The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility. We have developed a computer model of one concept robot, the “T1” omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's off-road mobility. The T1 is a lightweight robot with an innovative running-gear and control strategy to enhance mobility characteristics. We built the dynamic model of T1 in ADAMS/Car and the control system in MATLAB/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T1 ODV. It also discusses effective linking of ADAMS and MATLAB for control system development. Finally, this paper includes a section describing the extension of the T1 templates to other similar ODV concepts for rapid development.


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    Titel :

    Lightweight Robotic Mobility: Template-based Modeling for Dynamics and Controls Using ADAMS and MATLAB


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:
    Gorsich, David (Autor:in) / Hudas, Gregory (Autor:in) / Adamczyk, Peter G. (Autor:in)

    Kongress:

    SAE 2003 World Congress & Exhibition ; 2003



    Erscheinungsdatum :

    2003-03-03




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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