Please enter the words you want to search for:

EPE-PEMC 2000 - Topic 10b: Robot Actuators and Control
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2000 - Conference > EPE-PEMC 2000 - Topic 10: Mechatronic Systems > EPE-PEMC 2000 - Topic 10b: Robot Actuators and Control
	[return to parent folder]
	Some Results of Realisation of the Omnidirectional Mobile Robot   By Singule V., Šimeèek K.*	[View]   [Download]
Abstract: The contribution gives an overview information about overall concept of the autonomous omnidirectional mobile robot OMR III and its basic systems. A robot is designed for an autonomous motion in a partially known environment with the static and dynamic changed conditions. Above all three level control system structures are introduced. In the article there is introduced a mathematical model of a locomotion on the level of motion equations and some solution results of the task of a global navigation by Ljapunov function. Further the vector-spacing function is introduced for a solution of a local navigation task solution including computer simulation results. These results show that a robot is capable to react on an obstacles with a maximal speeds at an effective use of scan sensor data, those structure is in an article also described.