- Tytuł:
- Modeling and simulation of a tracked mobile inspection robot in Matlab and V-REP software
- Autorzy:
-
Ciszewski, M.
Mitka, Ł.
Buratowski, T.
Giergiel, M. - Powiązania:
- https://bibliotekanauki.pl/articles/384827.pdf
- Data publikacji:
- 2017
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
tracked robot
pipe inspection
kinematics
robot adaptation
V-REP
MATLAB
co-simulation - Opis:
- This paper presents modeling and simulation of a tracked mobile robot for pipe inspection with usage of MATLAB and V-REP software. Mechanical structure of the robot is described with focus on pedipulators, used to change pose of track drive modules to adapt to different pipe sizes and shapes. Modeling of the pedipulators is shown with application of MATLAB environment. The models are verified using V-REP and MATLAB co-simulations. Finally, operation of a prototype is shown on a test rig. The robot utilizes joint space trajectories, computed with usage of the mathematical models of the pedipulators.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 2; 5-11
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł