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Publicação
Hybrid legged-wheeled robot path following: a realistic simulation approach
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Orientador(es)
Resumo(s)
Legged-wheeled locomotion systems are a particular case of robot types that can be characterized by an increase in the degrees of freedom. To increase safety and robustness in the performance of industrial robots, while reducing the risk of damage to the robot joints and injure to human operators, the use of non-rigid joints is growing in the literature and in the industry. Realistic simulators are tools capable of detecting rigid bodies interactions through physics engines. This paper presents the simulation model of a hybrid legged wheeled robot, built in the SimTwo simulator. The proposed algorithms for path following control are detailed, along with the tests performed to them. These showed that the errors in linear paths are at most 1 cm. For circular paths, the maximum error is 3 cm.
Descrição
Palavras-chave
Modeling Simulation Hybrid legged-wheeled robot Path following Algorithms
Contexto Educativo
Citação
Pinto, Vítor H.; Soares, Inês N.; Ribeiro, Francisco; Lima, José; Gonçalves, José; Costa, Paulo (2022). Hybrid legged-wheeled robot path following: a realistic simulation approach. In 15th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2022. Caparica. 930, p. 61-72
Editora
Springer