Dynamic modelling and simulation of a three-Wheeled Omnidirectional Mobile Robot: Bond graph approach

被引：1

作者：

Sahoo, Saumya Ranj An ^{[1
]}

Chiddarwar, Shital S. ^{[1
]}

Alakshendra, Veer ^{[1
]}

机构：

[1] Visvesvaraya Natl Inst Technol, Dept Mech Engn, Nagpur 440010, Maharashtra, India

来源：

PROCEEDINGS OF THE ADVANCES IN ROBOTICS (AIR'17) | 2017年

关键词：

Mobile robot; dynamic modelling; bond graph; trajectory tracking;

D O I：

10.1145/3132446.3134866

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents the dynamic analysis of a three-wheeled omnidirectional mobile robot (TWOMR) using bond graph approach. The robot contain subsystem from different physical domain; the global model is obtained by integrating the model of each sub domain. Simulation is carried out using BG_V20 toolbox in MATLAB Simulink to show the effectiveness of the proposed dynamic model. The simulated results are verified with the Newton-Euler method to illustrate the efficacy of the dynamic modelling technique. The developed bond graph model can be used for various control aspects of the robot.

引用

页数：6

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