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Simulation Modeling and Control of a Mobile Robot with Omnidirectional Wheels

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Book cover Recent Advances in Mechatronics

Abstract

This contribution summarizes the results of work carried out during the proposal and simulation modelling of the mobile robot undercarriage equipped with omnidirectional wheels.

In order to make an accurate design and appropriate dimensioning of driving units, there was carried out a simulation of dynamic properties of the undercarriage with omnidirectional wheels in Mathworks MATLAB 7.

There is described a kinematical and a dynamical model of the whole robot platform. By using this functionality we can relatively overcome the problem of miss-alignments of the wheels during the assembly. Results of the simulation were summarized in form of a state space model of the whole robot platform.

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7. References

  1. Kubela, T., Pochylý A., Knoflíček R. (2006) Dynamic properties modeling of mobile robot undercarriage with omnidirectional wheels: Proceedings of International Conference PhD2006, Pilsen, pp 45–46.

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  2. Rodrigues, J., Brandao, S., Lobo, J., Rocha, R., Dias, J. (2005) RAC Robotic Soccer small-size team: Omnidirectional Drive Modelling and Robot construction, Robótica 2005 — Actas do Encontro CientÍfico, pp 130–135.

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Author information

Authors and Affiliations

  1. Institute of Production Machines, Systems and Robotics, Faculty of Mechanical Engineering, Brno University of Technology, Technicka 2, Brno, 616 69, Czech Republic

    T. Kubela & A. Pochylý

Authors
  1. T. Kubela
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  2. A. Pochylý
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Editor information

Editors and Affiliations

  1. Faculty of Mechatronics, Warsaw University of Technology, Św. Andrzeja Boboli 8 street room 343, 02-525, Warsaw, Poland

    Ryszard Jabłoński , Mateusz Turkowski  & Roman Szewczyk ,  & 

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© 2007 Springer-Verlag Berlin Heidelberg

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Kubela, T., Pochylý, A. (2007). Simulation Modeling and Control of a Mobile Robot with Omnidirectional Wheels. In: Jabłoński, R., Turkowski, M., Szewczyk, R. (eds) Recent Advances in Mechatronics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73956-2_5

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  • DOI: https://doi.org/10.1007/978-3-540-73956-2_5

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-73955-5

  • Online ISBN: 978-3-540-73956-2

  • eBook Packages: EngineeringEngineering (R0)

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