Original title: Dynamics and control of differentially driven soccer robot using exact linearization
Translated title: Dynamika a řízení fotbalového robota s použitím přímé linearizace
Authors: Grepl, Robert ; Kratochvíl, Ctirad ; Šolc, F. ; Hrabec, J.
Document type: Papers
Conference/Event: Dynamika strojů 2008, Praha (CZ), 2008-02-05 / 2008-02-06
Year: 2008
Language: eng
Abstract: [eng] [cze]
The paper deals with the kinematics and dynamics of two wheeled differentially driven soccer robot. Reduced dynamical model is derived using defined nonholonomic constraints. Further, the method of exact linearization is used for global linearization of system dynamics. Finally, simple linear control is implemented and tested on simulation model. Příspěvek prezentuje výsledky kinematické a dynamické analýzy řízení 2-kolového fotbalového robota s použitím přímé linearizace.
Keywords: nonholonomic system dynamics; soccer robot
Project no.: CEZ:AV0Z20760514 (CEP), GA101/06/0063 (CEP)
Funding provider: GA ČR
Host item entry: Dynamika strojů 2008, ISBN 978-80-87012-10-9

Institution: Institute of Thermomechanics AS ČR (web)
Document availability information: Fulltext is available at the institute of the Academy of Sciences.
Original record: http://hdl.handle.net/11104/0165016

Permalink: http://www.nusl.cz/ntk/nusl-39338


The record appears in these collections:
Research > Institutes ASCR > Institute of Thermomechanics
Conference materials > Papers