000003773 001__ 3773
000003773 005__ 20141118153347.0
000003773 04107 $$acze
000003773 046__ $$k2008-05-12
000003773 100__ $$aKubela, T.
000003773 24500 $$aNEW CONCEPTION OF OMNIDIRECTIONAL MOBILE ROBOT WITH MECANUM WHEELS: KINEMATICS AND DYNAMICS MODELLING

000003773 24630 $$n14$$pEngineering Mechanics 2008
000003773 260__ $$bInstitute of Thermomechanics AS CR, v.v.i., Brno
000003773 506__ $$arestricted
000003773 520__ $$2eng$$aThis contribution summarizes main results concerned with a design of a mobile robot with omnidirectional wheels and the key area covered in this work is kinematics and dynamics modelling of the robot platform. In the introductory part, there are presented main features of omnidirectional wheels and a new conception of a Mecanum-type wheel is introduced. Next sections are focused on a mathematical description – kinematical and dynamical model is then followed by a state-space model of the robot platform. Based on the mathematical description, a simulation model in Matlab/Simulink was created. The simulation results are shown and discussed in the final part of this work. Results in this work were acquired using the subsidization of the Ministry of Education Youth and Sports of the Czech Republic research plan MSM 0021630518 „Simulation modelling of mechatronic systems”.

000003773 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000003773 653__ $$a

000003773 7112_ $$aEngineering Mechanics 2008$$cSvratka (CZ)$$d2008-05-12 / 2008-05-15$$gEM2008
000003773 720__ $$aKubela, T.$$iKnoflíček, R.$$iPochylý, A.
000003773 8560_ $$ffischerc@itam.cas.cz
000003773 8564_ $$s548713$$uhttps://invenio.itam.cas.cz/record/3773/files/Kubela_FT.pdf$$y
             Original version of the author's contribution as presented on CD, , page 496.
            
000003773 962__ $$r3717
000003773 980__ $$aPAPER