Advanced Tools for Multi-Body Simulation and Design of Control Structures Applied in Robotic System Development

Tomas Kubela; Ales Pochyly; Vladislav Singule

doi:10.4028/www.scientific.net/SSP.164.387

Paper Titles

Modeling of Vertical Planar Two-Link Manipulator
p.366

Movement Trajectory Planning Algorithm of Rotating Mobile Piezorobot
p.371

Limb/Ground Impacts and Unexpected Impacts Control Strategy for a Model of a Walking Robot Limb
p.377

Numerical Analysis and Experimental Research of a Compliant Minigripper
p.383

Advanced Tools for Multi-Body Simulation and Design of Control Structures Applied in Robotic System Development
p.387

Orthonormality and Spectral Analysis for Robotics and Astrodynamics
p.392

Universal Navigation Algorithm Planning Platform for Unmanned Systems
p.405

Optimization of Transport Movement Parameters of the Transfer Manipulator for the Quenching Bath According to the Technological Process Requirements
p.411

Discrete Action Dependant Heuristic Dynamic Programming in Control of a Wheeled Mobile Robot
p.419

HomeSolid State PhenomenaSolid State Phenomena Vol. 164Advanced Tools for Multi-Body Simulation and...

Advanced Tools for Multi-Body Simulation and Design of Control Structures Applied in Robotic System Development

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. Further, as an alternative way to cover both multi-body and control aspects, Chrono::Engine system (by A. Tasora) was introduced in this work.

You might also be interested in these eBooks

Mechatronic Systems and Materials: Mechatronic Systems and Robotics

View Preview

Info:

Periodical:

Solid State Phenomena (Volume 164)

Pages:

387-391

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.164.387

Citation:

Cite this paper

Online since:

June 2010

Authors:

Tomas Kubela, Ales Pochyly, Vladislav Singule

Keywords:

Multi-Body Simulation, Omnidirectional Mecanum Wheels, Robot Design

Export:

RIS, BibTeX

Price:

Permissions:

Request Permissions

Сopyright:

Citation:

References

[1] Chrono. CHRONO: ENGINE - Multibody Dynamics Library [online] 2009 [cit. 10. 3. 2009]. Available from: < http: /www. deltaknowledge. com/chronoengine/>.

Google Scholar

[2] Ki Sang Hwang, et al.: Development of a mobile surveillance robot. In 2007 International Conference on Control, Automation and Systems (ICCAS 2007). 2007, pp.2503-2508.

DOI: 10.1109/iccas.2007.4406785

Google Scholar

[3] MATHWORKS: Matlab - The Language Of Technical Computing [online]. 2009a. [cit. 10. 3. 2009]. Available from: <http: /www. mathworks. com/products/matlab/>.

Google Scholar

[4] MATHWORKS: Simulink - Simulation and Model-Based Design [online]. 2009b. [cit. 10. 3. 2009]. Available from: <http: /www. mathworks. com/products/simulink/>.

Google Scholar

[5] MSC SOFTWARE: Adams [online]. 2009. [cit. 10. 3. 2009]. Available from: <http: /www. mscsoftware. com/products/adams. cfm>.

Google Scholar

[6] PTC: Pro/Engineer [online]. 2009. [cit. 10. 3. 2009]. Available from: <http: /www. ptc. com/products/proengineer/>.

Google Scholar