In 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.


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    Titel :

    Modelling and Experimental Validation of Articulated Mobile Robots with Hybrid Locomotion System


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Niola, Vincenzo (Herausgeber:in) / Gasparetto, Alessandro (Herausgeber:in) / Botta, Andrea (Autor:in) / Cavallone, Paride (Autor:in) / Carbonari, Luca (Autor:in) / Tagliavini, Luigi (Autor:in) / Quaglia, Giuseppe (Autor:in)

    Kongress:

    The International Conference of IFToMM ITALY ; 2020 ; Naples, Italy September 09, 2020 - September 11, 2020



    Erscheinungsdatum :

    20.08.2020


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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