A study and shaping of a differential mobile robotic platform
Abstract
It presents the study and shaping of a robotic differential platform and its configuration characteristics. In the dynamic model is included the study of two DC motors connected to every wheel as system actuators and there are analyzed kinetic equations with and without rubbing coefficients. It was decided a direct cinematic model and it is compared by simulations in the Matlab® with the models presented with the tool HEMERO.Keywords
mobile robotics, differential platform, model, kinematics, dynamics
References
- Almeida L. (1997): Modelizacao de pequeños robots autónomos, un exemplo. Revista Do Detua, Vol 2, PP. 133-140.
- Cárdenas, P. y Ramírez, R. (2007): Modelo dinámico de un robot móvil como herramienta para diseño y prueba de controladores. En Memorias VII Congreso de la Asociación Colombiana de Automática.
- The Math Works (2007): Simulink-Simulation and Model- Based Desing. Obtenido el 18 de Octubre de 2007 en http:/www.mathworks.com/products/simulink/.
- Ollero, A. (2001) Róbotica, Manipuladores y robots móviles, Madrid, Marcombo Boixareu.
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