Detail publikace

Comparison of Models of a Skid-Steered Robot

ŠOLC, F.

Anglický název

Comparison of Models of a Skid-Steered Robot

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

en

Originální abstrakt

The paper introduces mathematical models of a skid steered mobile platform for robotics. The platform consists of a rectangular steel construction with four wheels. Two banks of two drive wheels on each side are linked to two DC electrical motors via chain on sprocket drive and gearing. The two drive assemblies for the left and right banks are identical but they operate independently to steer the vehicle by skid. Wheels of the vehicle consist of rims and shallow tread pneumatic tyres. Four models of tyre – ground forces are used for modelling of motion of the system. Behaviour of the model is compared with real experiments.

Anglický abstrakt

The paper introduces mathematical models of a skid steered mobile platform for robotics. The platform consists of a rectangular steel construction with four wheels. Two banks of two drive wheels on each side are linked to two DC electrical motors via chain on sprocket drive and gearing. The two drive assemblies for the left and right banks are identical but they operate independently to steer the vehicle by skid. Wheels of the vehicle consist of rims and shallow tread pneumatic tyres. Four models of tyre – ground forces are used for modelling of motion of the system. Behaviour of the model is compared with real experiments.

Klíčová slova anglicky

model, mobile robot

Rok RIV

2001

Vydáno

10.09.2001

ISBN

80-7204-207-6

Kniha

Mechatronics Robotics and Biomechanics

Počet stran

8

BIBTEX


@inproceedings{BUT7017,
  author="František {Šolc},
  title="Comparison of Models of a Skid-Steered Robot",
  booktitle="Mechatronics Robotics and Biomechanics",
  year="2001",
  month="September",
  isbn="80-7204-207-6"
}