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EnglishIn recent years, autonomous vehicles and mobile robots are starting to become a trend also in several new fields of application. In some cases, they are articulated vehicles with an active front module and a rear one that is pulled passively or that can contribute to the vehicle traction when required. Although modelling of mobile robots is not a novelty, most of the available studies are limited to kinematic or very basic dynamic models. In order to correctly simulate mobile robots with fast dynamics or operating off-road, this study proposes a dynamic model of such systems derived taking into account lateral and longitudinal slip in the wheels. The model is then validated experimentally using a small articulated robot.
Modelling and Experimental Validation of Articulated Mobile Robots with Hybrid Locomotion System / Botta, A.; Cavallone, P.; Carbonari, L.; Tagliavini, L.; Quaglia, G.. - ELETTRONICO. - 91(2021), pp. 758-767. [10.1007/978-3-030-55807-9_84]
| Titolo: | Modelling and Experimental Validation of Articulated Mobile Robots with Hybrid Locomotion System | |
| Autori: | ||
| Data di pubblicazione: | 2021 | |
| Titolo del libro: | Mechanisms and Machine Science | |
| Serie: | ||
| Abstract: | In recent years, autonomous vehicles and mobile robots are starting to become a trend also in sev...eral new fields of application. In some cases, they are articulated vehicles with an active front module and a rear one that is pulled passively or that can contribute to the vehicle traction when required. Although modelling of mobile robots is not a novelty, most of the available studies are limited to kinematic or very basic dynamic models. In order to correctly simulate mobile robots with fast dynamics or operating off-road, this study proposes a dynamic model of such systems derived taking into account lateral and longitudinal slip in the wheels. The model is then validated experimentally using a small articulated robot. | |
| ISBN: | 978-3-030-55806-2 978-3-030-55807-9 | |
| Appare nelle tipologie: | 2.1 Contributo in volume (Capitolo o Saggio) |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| pxxx03 IFIT 2020 Modelling of mobile robots 2020_05_14_POSTREVIEW.pdf | Articolo principale | 2. Post-print / Author's Accepted Manuscript | PUBBLICO - Tutti i diritti riservati | Visibile a tuttiVisualizza/Apri |
| Botta2021_Chapter_ModellingAndExperimentalValida.pdf | Articolo, versione pubblicata | 2a Post-print versione editoriale / Version of Record | Non Pubblico - Accesso privato/ristretto | Administrator Richiedi una copia |
http://hdl.handle.net/11583/2846182
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