Kinematics modeling and simulation of an autonomous omni-directional mobile robot
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| Natura: | Artículo científico |
| Lingua: | en |
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Universidad Nacional de Colombia
2015
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| _version_ | 1876482857116893184 |
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| author | D. Garcia-Sillas |
| author_facet | D. Garcia-Sillas |
| contents | Kinematics modeling and simulation of an autonomous omni-directional mobile robot D. Garcia-Sillas E. Gorrostieta-Hurtado J. E. Vargas J. Rodríguez-Reséndiz S. Tovar Ingeniería robotics kinematics Mobile robots modeling and simulation Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test beha - vior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio ® and Matlab ® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot. 2015 artículo científico 0120-5609 https://www.redalyc.org/articulo.oa?id=64340413012 en http://www.redalyc.org/revista.oa?id=643 Ingeniería e Investigación application/pdf Universidad Nacional de Colombia Ingeniería e Investigación (Colombia) Num.2 Vol.35 |
| format | Artículo científico |
| id | redalyc_64340413012 |
| institution | Redalyc |
| language | en |
| publishDate | 2015 |
| publisher | Universidad Nacional de Colombia |
| spellingShingle | Kinematics modeling and simulation of an autonomous omni-directional mobile robot D. Garcia-Sillas Ingeniería robotics kinematics Mobile robots modeling and simulation Kinematics modeling and simulation of an autonomous omni-directional mobile robot D. Garcia-Sillas E. Gorrostieta-Hurtado J. E. Vargas J. Rodríguez-Reséndiz S. Tovar Ingeniería robotics kinematics Mobile robots modeling and simulation Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test beha - vior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio ® and Matlab ® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot. 2015 artículo científico 0120-5609 https://www.redalyc.org/articulo.oa?id=64340413012 en http://www.redalyc.org/revista.oa?id=643 Ingeniería e Investigación application/pdf Universidad Nacional de Colombia Ingeniería e Investigación (Colombia) Num.2 Vol.35 |
| title | Kinematics modeling and simulation of an autonomous omni-directional mobile robot |
| topic | Ingeniería robotics kinematics Mobile robots modeling and simulation |
| url | https://www.redalyc.org/articulo.oa?id=64340413012 |