Publication detail

Omnidirectional mobile robot with new conception using Mecanum wheels

KUBELA, T. POCHYLÝ, A. KNOFLÍČEK, R. SINGULE, V. SYNEK, M.

Original Title

Omnidirectional mobile robot with new conception using Mecanum wheels

English Title

Omnidirectional mobile robot with new conception using Mecanum wheels

Type

book chapter

Language

en

Original Abstract

This contribution deals with an omnidirectional mobile robot where the omnidirectional (also holonomic) movement is reached by means of omnidirectional wheels. Based on our cooperation with "Mostly Harmless" RoboCup Team at the Graz University of Technology, we used the Mecanum wheels (Fig. 2) for the new conception of the robot. For the new conception of the robot platform we made a new kinematical model of the whole platform based on Mecanum paradigm and a more advanced dynamical model of the platform.

English abstract

This contribution deals with an omnidirectional mobile robot where the omnidirectional (also holonomic) movement is reached by means of omnidirectional wheels. Based on our cooperation with "Mostly Harmless" RoboCup Team at the Graz University of Technology, we used the Mecanum wheels (Fig. 2) for the new conception of the robot. For the new conception of the robot platform we made a new kinematical model of the whole platform based on Mecanum paradigm and a more advanced dynamical model of the platform.

Keywords

Mobile Robot; Omnidirectional wheel; State-space model; Simulation

RIV year

2007

Released

31.12.2007

Publisher

VUT v Brně

Location

Brno

ISBN

978-80-214-3559-9

Book

SIMULATION MODELLING OF MECHATRONIC SYSTEMS III

Edition

Mechatronika

Edition number

3

Pages from

111

Pages to

120

Pages count

10

Documents

BibTex


@inbook{BUT55421,
  author="Tomáš {Kubela} and Aleš {Pochylý} and Radek {Knoflíček} and Vladislav {Singule} and Miloš {Synek}",
  title="Omnidirectional mobile robot with new conception using Mecanum wheels",
  annote="This contribution deals with an omnidirectional mobile robot where the omnidirectional (also holonomic) movement is reached by means of omnidirectional wheels. 
Based on our cooperation with "Mostly Harmless" RoboCup Team at the Graz University of Technology, we used the Mecanum wheels (Fig. 2) for the new conception of the robot.
For the new conception of the robot platform we made a new kinematical model of the whole platform based on Mecanum paradigm and a more advanced dynamical model of the platform.
",
  address="VUT v Brně",
  booktitle="SIMULATION MODELLING OF MECHATRONIC SYSTEMS III",
  chapter="55421",
  edition="Mechatronika",
  institution="VUT v Brně",
  year="2007",
  month="december",
  pages="111--120",
  publisher="VUT v Brně",
  type="book chapter"
}