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National Repository of Grey Literature 2 records found  Search took 0.01 seconds. 
Uncommon platforms in mobile robotics
 Miškolci, Michal ; Cihlář, Miloš (referee) ; Kopečný, Lukáš (advisor)
This thesis deals with the design of a four-wheeled omnidirectional robot chassis capable of trajectory tracking. For this purpose, a kinematic model is built in the thesis, then applied and compared with a real robot. This model implementing linear trajectory tracking is complemented by the computation of circular trajectory, and both types of motion are applied to the robot and evaluated. For large deviations from the desired circular trajectory, the last part of the paper is devoted to improve the tracking by linearizing the motor and using an angular velocity sensor to compensate for the rotational deviation.
Detailed record
Uncommon platforms in mobile robotics
 Miškolci, Michal ; Burian, František (referee) ; Kopečný, Lukáš (advisor)
This thesis deals with the design of a four-wheeled omnidirectional robot chassis capable of trajectory tracking. For this purpose, a kinematic model is built in the thesis, then applied and compared with a real robot. This model implementing linear trajectory tracking is complemented by the computation of circular trajectory, and both types of motion are applied to the robot and evaluated. For large deviations from the desired circular trajectory, the last part of the paper is devoted to improve the tracking by linearizing the motor and using an angular velocity sensor to compensate for the rotational deviation.
Detailed record

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