Publication detail

Advanced tools for multi-body simulation and design of control structures applied in robotic system development

KUBELA, T. POCHYLÝ, A. SINGULE, V.

English title

Advanced tools for multi-body simulation and design of control structures applied in robotic system development

Type

Peer-reviewed article not indexed in WoS or Scopus

Language

en

Original abstract

The paper deals with a design of a 3-wheeled mobile robot based on Mecanum omnidirectional wheels. The 3D CAD geometry model was initially prepared with Pro-Engineer. The key issue with respect to design methodology reported in this research work is related to the application of co-simulation strategy. System ADAMS, intended for multi-body simulations, was used to evaluate dynamic behavior of the robot platform. MATLAB/Simulink was applied for testing the performance and control of structures. The co-simulation strategy consists mainly in application of ADAMS and MATLAB simultaneously, in one loop, utilizing its respective advantages.

Keywords in English

multi-body simulation, robot design, omnidirectional Mecanum wheels

Released

2010-06-30

Publisher

Trans Tech Publications

Location

Zurich, Switzerland

ISSN

1012-0394

Volume

164

Number

07

Pages from–to

387–391

Pages count

5

BIBTEX


@article{BUT49838,
  author="Tomáš {Kubela} and Aleš {Pochylý} and Vladislav {Singule}",
  title="Advanced tools for multi-body simulation and design of control structures applied in robotic system development",
  journal="Solid State Phenomena",
  year="2010",
  volume="164",
  number="07",
  pages="387--391",
  issn="1012-0394",
  url="http://www.scientific.net/SSP.164.387"
}