Kinematics modeling and simulation of an autonomous omni-directional mobile robot
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 behavior algorithms such as thos...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Universidad Nacional de Colombia
2015-05-01
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| Series: | Ingeniería e Investigación |
| Subjects: | |
| Online Access: | https://revistas.unal.edu.co/index.php/ingeinv/article/view/47763 |
| _version_ | 1819118484807745536 |
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| author | Daniel Garcia Sillas Efrén Gorrostieta Hurtado Emilio Vargas Soto Juvenal Rodríguez Reséndiz Saúl Tovar Arriaga |
| author_facet | Daniel Garcia Sillas Efrén Gorrostieta Hurtado Emilio Vargas Soto Juvenal Rodríguez Reséndiz Saúl Tovar Arriaga |
| author_sort | Daniel Garcia Sillas |
| collection | DOAJ |
| description | 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 behavior 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. |
| first_indexed | 2024-12-22T05:49:37Z |
| format | Article |
| id | doaj.art-363358e611744a5885a1c22ffe0d2de0 |
| institution | Directory Open Access Journal |
| issn | 0120-5609 2248-8723 |
| language | English |
| last_indexed | 2024-12-22T05:49:37Z |
| publishDate | 2015-05-01 |
| publisher | Universidad Nacional de Colombia |
| record_format | Article |
| series | Ingeniería e Investigación |
| spelling | doaj.art-363358e611744a5885a1c22ffe0d2de02022-12-21T18:36:54ZengUniversidad Nacional de ColombiaIngeniería e Investigación0120-56092248-87232015-05-01352747910.15446/ing.investig.v35n2.4776340626Kinematics modeling and simulation of an autonomous omni-directional mobile robotDaniel Garcia Sillas0Efrén Gorrostieta Hurtado1Emilio Vargas Soto2Juvenal Rodríguez Reséndiz3Saúl Tovar Arriaga4Universidad Autónoma de QuerétaroSenior Member IEEE.Senior Member IEEE.Senior Member IEEE.Senior Member IEEE.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 behavior 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.https://revistas.unal.edu.co/index.php/ingeinv/article/view/47763Mobile robotsroboticskinematicsmodeling and simulation. |
| spellingShingle | Daniel Garcia Sillas Efrén Gorrostieta Hurtado Emilio Vargas Soto Juvenal Rodríguez Reséndiz Saúl Tovar Arriaga Kinematics modeling and simulation of an autonomous omni-directional mobile robot Ingeniería e Investigación Mobile robots robotics kinematics modeling and simulation. |
| title | Kinematics modeling and simulation of an autonomous omni-directional mobile robot |
| title_full | Kinematics modeling and simulation of an autonomous omni-directional mobile robot |
| title_fullStr | Kinematics modeling and simulation of an autonomous omni-directional mobile robot |
| title_full_unstemmed | Kinematics modeling and simulation of an autonomous omni-directional mobile robot |
| title_short | Kinematics modeling and simulation of an autonomous omni-directional mobile robot |
| title_sort | kinematics modeling and simulation of an autonomous omni directional mobile robot |
| topic | Mobile robots robotics kinematics modeling and simulation. |
| url | https://revistas.unal.edu.co/index.php/ingeinv/article/view/47763 |
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