Kinematics modeling and simulation of an autonomous omni-directional mobile robot

Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as thos...

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Autores:
Garcia Sillas, Daniel
Gorrostieta Hurtado, Efrén
Vargas Soto, Emilio
Rodríguez Reséndiz, Juvenal
Tovar Arriaga, Saúl
Tipo de recurso:
Article of journal
Fecha de publicación:
2015
Institución:
Universidad Nacional de Colombia
Repositorio:
Universidad Nacional de Colombia
Idioma:
spa
OAI Identifier:
oai:repositorio.unal.edu.co:unal/67672
Acceso en línea:
https://repositorio.unal.edu.co/handle/unal/67672
http://bdigital.unal.edu.co/68701/
Palabra clave:
62 Ingeniería y operaciones afines / Engineering
Mobile robots
robotics
kinematics
modeling and simulation.
Robots móviles
robótica
cinemática
modelación y simulación.
Rights
openAccess
License
Atribución-NoComercial 4.0 Internacional
id UNACIONAL2_e9006baafa2d8fec2866f5f0e824af1c
oai_identifier_str oai:repositorio.unal.edu.co:unal/67672
network_acronym_str UNACIONAL2
network_name_str Universidad Nacional de Colombia
repository_id_str
dc.title.spa.fl_str_mv Kinematics modeling and simulation of an autonomous omni-directional mobile robot
title Kinematics modeling and simulation of an autonomous omni-directional mobile robot
spellingShingle Kinematics modeling and simulation of an autonomous omni-directional mobile robot
62 Ingeniería y operaciones afines / Engineering
Mobile robots
robotics
kinematics
modeling and simulation.
Robots móviles
robótica
cinemática
modelación y simulación.
title_short Kinematics modeling and simulation of an autonomous omni-directional mobile robot
title_full Kinematics modeling and simulation of an autonomous omni-directional mobile robot
title_fullStr Kinematics modeling and simulation of an autonomous omni-directional mobile robot
title_full_unstemmed Kinematics modeling and simulation of an autonomous omni-directional mobile robot
title_sort Kinematics modeling and simulation of an autonomous omni-directional mobile robot
dc.creator.fl_str_mv Garcia Sillas, Daniel
Gorrostieta Hurtado, Efrén
Vargas Soto, Emilio
Rodríguez Reséndiz, Juvenal
Tovar Arriaga, Saúl
dc.contributor.author.spa.fl_str_mv Garcia Sillas, Daniel
Gorrostieta Hurtado, Efrén
Vargas Soto, Emilio
Rodríguez Reséndiz, Juvenal
Tovar Arriaga, Saúl
dc.subject.ddc.spa.fl_str_mv 62 Ingeniería y operaciones afines / Engineering
topic 62 Ingeniería y operaciones afines / Engineering
Mobile robots
robotics
kinematics
modeling and simulation.
Robots móviles
robótica
cinemática
modelación y simulación.
dc.subject.proposal.spa.fl_str_mv Mobile robots
robotics
kinematics
modeling and simulation.
Robots móviles
robótica
cinemática
modelación y simulación.
description Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio® and Matlab® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot.
publishDate 2015
dc.date.issued.spa.fl_str_mv 2015-05-01
dc.date.accessioned.spa.fl_str_mv 2019-07-03T04:49:26Z
dc.date.available.spa.fl_str_mv 2019-07-03T04:49:26Z
dc.type.spa.fl_str_mv Artículo de revista
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dc.identifier.issn.spa.fl_str_mv ISSN: 2248-8723
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dc.relation.spa.fl_str_mv https://revistas.unal.edu.co/index.php/ingeinv/article/view/47763
dc.relation.ispartof.spa.fl_str_mv Universidad Nacional de Colombia Revistas electrónicas UN Ingeniería e Investigación
Ingeniería e Investigación
dc.relation.references.spa.fl_str_mv Garcia Sillas, Daniel and Gorrostieta Hurtado, Efrén and Vargas Soto, Emilio and Rodríguez Reséndiz, Juvenal and Tovar Arriaga, Saúl (2015) Kinematics modeling and simulation of an autonomous omni-directional mobile robot. Ingeniería e Investigación, 35 (2). pp. 74-79. ISSN 2248-8723
dc.rights.spa.fl_str_mv Derechos reservados - Universidad Nacional de Colombia
dc.rights.coar.fl_str_mv http://purl.org/coar/access_right/c_abf2
dc.rights.license.spa.fl_str_mv Atribución-NoComercial 4.0 Internacional
dc.rights.uri.spa.fl_str_mv http://creativecommons.org/licenses/by-nc/4.0/
dc.rights.accessrights.spa.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv Atribución-NoComercial 4.0 Internacional
Derechos reservados - Universidad Nacional de Colombia
http://creativecommons.org/licenses/by-nc/4.0/
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.mimetype.spa.fl_str_mv application/pdf
dc.publisher.spa.fl_str_mv Universidad Nacional de Colombia - Sede Bogotá - Facultad de Ingeniería
institution Universidad Nacional de Colombia
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spelling Atribución-NoComercial 4.0 InternacionalDerechos reservados - Universidad Nacional de Colombiahttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Garcia Sillas, Daniel454c2182-70ba-4836-8693-f10c197fe56a300Gorrostieta Hurtado, Efrén24c37cb6-472d-46f8-9521-389862bb955f300Vargas Soto, Emilio98848d2b-6ac1-48bf-a952-147ed8e9a8bd300Rodríguez Reséndiz, Juvenalca61ab28-514a-4c68-a76b-cbef31001c9d300Tovar Arriaga, Saúlb333aa48-5256-4dd9-ba3c-b01bc88dcd113002019-07-03T04:49:26Z2019-07-03T04:49:26Z2015-05-01ISSN: 2248-8723https://repositorio.unal.edu.co/handle/unal/67672http://bdigital.unal.edu.co/68701/Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio® and Matlab® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot.Aunque la robótica ha avanzado hasta el punto de ser relativamente accesible con proyectos de bajo costo, aún cabe la necesidad de crear modelos que representen fielmente el comportamiento físico de un robot creando una plataforma completamente virtual. Esto nos permite, por un lado, probar algoritmos de comportamiento o de inteligencia artificial y, por otro lado, encontrar probables problemas en el diseño físico. El presente trabajo propone el modelado cinemático y la simulación de un robot móvil autónomo, particularmente de un robot omni-direccional con ruedas. Se plantea la metodología para la construcción del modelo cinemático así como su implementación utilizando diversas herramientas. El resultado es un modelo que representa a un robot móvil omni-direccional triangular con ruedas, que fue probado utilizando un modelo tridimensional importado de 3D Studio®, y utilizando Matlab® para la simulación del modelo. También se implementa el mismo modelo utilizando una herramienta dedicada a la simulación de robots, que ofrece un ambiente muy completo de simulación. El ambiente de simulación ofrece un comportamiento muy cercano al real y refleja las características cinemáticas del robot.application/pdfspaUniversidad Nacional de Colombia - Sede Bogotá - Facultad de Ingenieríahttps://revistas.unal.edu.co/index.php/ingeinv/article/view/47763Universidad Nacional de Colombia Revistas electrónicas UN Ingeniería e InvestigaciónIngeniería e InvestigaciónGarcia Sillas, Daniel and Gorrostieta Hurtado, Efrén and Vargas Soto, Emilio and Rodríguez Reséndiz, Juvenal and Tovar Arriaga, Saúl (2015) Kinematics modeling and simulation of an autonomous omni-directional mobile robot. Ingeniería e Investigación, 35 (2). pp. 74-79. ISSN 2248-872362 Ingeniería y operaciones afines / EngineeringMobile robotsroboticskinematicsmodeling and simulation.Robots móvilesrobóticacinemáticamodelación y simulación.Kinematics modeling and simulation of an autonomous omni-directional mobile robotArtículo de revistainfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1http://purl.org/coar/version/c_970fb48d4fbd8a85Texthttp://purl.org/redcol/resource_type/ARTORIGINAL47763-256153-1-PB.pdfapplication/pdf733022https://repositorio.unal.edu.co/bitstream/unal/67672/1/47763-256153-1-PB.pdf9349563133cb76f1502456a31abbdef9MD51THUMBNAIL47763-256153-1-PB.pdf.jpg47763-256153-1-PB.pdf.jpgGenerated Thumbnailimage/jpeg8764https://repositorio.unal.edu.co/bitstream/unal/67672/2/47763-256153-1-PB.pdf.jpgc45835c8879954963eb72c51d25ebba3MD52unal/67672oai:repositorio.unal.edu.co:unal/676722023-05-31 23:03:05.315Repositorio Institucional Universidad Nacional de Colombiarepositorio_nal@unal.edu.co

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