A study and shaping of a differential mobile robotic platform

A study and shaping of a differential mobile robotic platform

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...

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Bibliographic Details
Main Authors: Pinto-Salamanca, María Luisa, Bermúdez-Bohórquez, Giovanni Rodrigo
Format: Online
Language:spa
Published: Universidad Pedagógica y Tecnológica de Colombia - UPTC 2007
Subjects:
mobile robotics
differential platform
model
kinematics
dynamics
robótica móvil
plataforma diferencial
modelo
cinemática
dinámica
Online Access:https://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/863
Description
Summary: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.