Dynamics modeling and identification of the amigobot robot

• Autorzy: Buratowski, T. , Giergiel, J.
• Języki publikacji: EN

Abstrakty

EN

This paper presents problems connected with the identification of dynamic motion equations derived on the basis of Maggi equations for a 2-wheeled mobile robot. The possibility of sending data between Maple^TM and Matlab^TM has been discussed. Off-line identification structure has been presented with the use of genetic algorithms.

Słowa kluczowe

PL

dynamika; identyfikacja; logika rozmyta; roboty mobilne

EN

dynamics; identification; fuzzy logic; mobile robots

• Czasopismo: Mechanics and Mechanical Engineering
• Rocznik: 2010
• Tom: Vol. 14, nr 1
• Strony: 65-79
• Opis fizyczny: Bibliogr. 7 poz.

Twórcy

autor

Buratowski, T.

autor

Giergiel, J.

• Department of Robotics and Mechatronics, AGH University of Science and Technology

Bibliografia

• [1] Braunl T.: Embedded robotics, mobile robot design and application with embedded systems, Springer-Verlag, Berlin, Heidelberg, 2008.
• [2] Braunl T.: Autonomous robots, modeling, path planning and control, Springer-Verlag, Berlin, Heidelberg, 2008.
• [3] Biagiotti L. and Melchiorri C.: Trajectory planning for automatic machines and robots, Springer-Verlag, Berlin, Heidelberg, 2008.
• [4] Buratowski T., Uhl T. and Żylski W.: The comparison of parallel and serial-parallel structures of mobile robot Pioneer 2DX state emulator, Robot Control 2003, Pergamon, 2004.
• [5] Buratowski T., Uhl T. and Żylski W.: The fuzzy logic application in rapid prototyping of mechatronic systems, Proceedings of the Fourth International Workshop on Robot Motion and Control ROMOCO'04, Poznań (Poland), 2004.
• [6] Giergiel J., Hendzel Z. and Żylski W.: Kinematyka, dynamika i sterowanie mobilnych robotów kołowych w ujęciu mechatronicznym, Monografie, IMiR Department, Wydawnictwo AGH, Kraków, 2000.
• [7] Craig J.J.: Wprowadzenie do robotyki, WNT, Warszawa, 1993.