Omnidirectional wheel simulation – a practical approach

Authors

  • V. Kálmán

Keywords:

omnidirectional wheel, simulation, Modelica, mobile robotics

Abstract

In this paper a configurable omnidirectional wheel model is presented, which can be used for dynamic simulation and parameter tuning of omnidirectional robotic systems. First a brief overview is given on well known omnidirectional wheel designs and models from the literature, then two modeling approaches are described and compared. The usability of the models is verified by simulation, using two omnidirectional platforms and kinematic equations from the literature. This work has been carried out using the Dymola modeling environment and the Modelica language.

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Published

2013-04-15

How to Cite

Kálmán, V. (2013). Omnidirectional wheel simulation – a practical approach. Acta Technica Jaurinensis, 6(2), pp. 73–90. Retrieved from https://acta.sze.hu/index.php/acta/article/view/51

Issue

Section

Vehicle, Mechanical Engineering and Mechatronics