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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Detalhes bibliográficos
Main Authors:	Pinto-Salamanca, María Luisa, Bermúdez-Bohórquez, Giovanni Rodrigo
Formato:	Online
Idioma:	spa
Publicado em:	Universidad Pedagógica y Tecnológica de Colombia - UPTC 2007
Assuntos:	mobile robotics differential platform model kinematics dynamics robótica móvil plataforma diferencial modelo cinemática dinámica
Acesso em linha:	https://revistas.uptc.edu.co/index.php/ingenieria_sogamoso/article/view/863

Descrição
Resumo:	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.