Wheeled robot dynamic modelling using the projection method

• Autorzy: Burghardt A.
• Języki publikacji: EN

Abstrakty

EN

This paper presents the problem of generation of dynamic equations of a wheeled mobile robot motion by using the projection method. The projection method allows eliminating the Lagrange multipliers in the dynamics model of the wheeled mobile robot. This property allows using a mathematical model of the object in simulations and in control systems synthesis. As an example, the wheeled mobile robot AmigoBot was used. The approach to mobile robot modelling presented in this paper was performed using the software Maple V.

Słowa kluczowe

EN

modelling of mobile wheeled robot; projection method; AmigoBot robot

PL

robot mobilny; modelowanie robotów; metoda projekcji; robot

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2012
• Tom: Vol. 17, no. 3
• Strony: 743--751
• Opis fizyczny: Bibliogr. 6 poz., rys.

Twórcy

autor

Burghardt A.

• Dept. of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology W. Pola 2, 35-959, Rzeszów. POLAND,

Bibliografia

• Blajer(W. (1998): Methods of Multibody System Dynamics. - Copyright by Technical University of Radom, Radom.
• Burghardt A. (2010): Modelling of dynamic mobile Robot using a appell equation. - Acta Mechanica et Automatica vol.4, No.1, Bialystok.
• Burghardt A.(2008): Proposal for a rapid prototyping environment for algorithms intended for autonomous mobile robot control. - Mechanics and Mechanical Engineering, Technical University of Lodz, pp.5-16, 1/2008.
• Giergiel M.J., Hendzel Z. and Żylski W. (2002): Modelling and Control of Wheeled Mobile Robots. - WNT, Warsaw.
• Nawrocki M., Burghardt A. and Hendzel Z. (2011): The Parametric Identification of Mobile Robot AmigoBot. - Modelowanie Inżynierskie, vol.11, No.42, Gliwice.
• Żylski W. (1996) Kinematics and Dynamics of Wheeled Mobile Robots. - Copyright by Politechnika Rzeszowska, Rzeszow.