Name
Title | ||
|---|---|---|
Modelling and simulation of multibody mobile robot for volcanic environment explorations |
Abstract | ||
|---|---|---|
This paper presents a dynamics analysis of a mobile robot, named M6, developed for volcanic environment exploration. The architecture of this kind of robot has six wheels which are coupled to the chassis by means of revolute joints. The robot is built by the DEES of Catania University. A multibody model of the system was constructed in a calculation code. Particular attention was given to the choice of tyre model to simulate the real tyre-road contact. A comparison of the simulation and experimental results confirmed the good agreement between the model and the real system. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/IRDS.2002.1041475 | Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference |
Keywords | Field | DocType |
geophysical equipment,mesh generation,mobile robots,robot dynamics,simulation,Catania University,M6,dynamics,finite element mesh,multibody model,tyre model,tyre-road contact,volcanic environment exploration,wheeled mobile robot | Computer science,Simulation,Control engineering,Vehicle dynamics,Revolute joint,Chassis,Robot,Mesh generation,Mobile robot | Conference |
Volume | ISBN | Citations |
1 | 0-7803-7398-7 | 5 |
PageRank | References | Authors |
1.12 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Michele Lacagnina | 1 | 26 | 3.04 |
| Muscato, Giovanni | 2 | 80 | 11.14 |
| Salvatore Guccione | 3 | 5 | 1.12 |
| Rosario Sinatra | 4 | 43 | 5.43 |