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Lightweight Robotic Mobility: Template-based Modeling for Dynamics and Controls Using ADAMS and MATLAB
Technical Paper
2003-01-0269
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
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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Adamczyk, P., Gorsich, D., and Hudas, G., "Lightweight Robotic Mobility: Template-based Modeling for Dynamics and Controls Using ADAMS and MATLAB," SAE Technical Paper 2003-01-0269, 2003, https://doi.org/10.4271/2003-01-0269.Also In
References
- Bahl, Vikas “Modeling and Control of a Class of Autonomous Wheeled Mobile Robots.” Utah State University 2002
- Center for Self Organizing and Intelligent Systems, Utah State University “CSOIS T1 Omni-directional Vehicle User's Guide.”