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Università degli Studi di GenovaRo
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IINothing great in the World has be
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CONTENTSIV6 Simulation 786.1 Simuli
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LIST OF FIGURESVII6.4 (a) Block sch
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List of Tables5.1 Table of the geom
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Introduction 2boDynamics, VGo Commu
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Introduction 4The robot employed, i
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Chapter 1Hardware and SoftwareIn th
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1.1 The Pioneer 3-AT Robot 8four ho
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1.2 The sensors 10control resolutio
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2.1 State of the Art 12not negligib
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2.1 State of the Art 14velocity vec
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2.1 State of the Art 16Figure 2.3:
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2.1 State of the Art 18Finally, by
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2.1 State of the Art 20constraint (
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2.1 State of the Art 22approximates
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2.2 Generalized Modeling 24⎡1 0¯
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2.2 Generalized Modeling 26V = [v T
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2.2 Generalized Modeling 28where T(
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2.2 Generalized Modeling 30⎡g R(J
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2.2 Generalized Modeling 32where we
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Chapter 3Experimental DataIn this c
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3.1 The accelerometer 36(a)(b)Figur
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3.2 Characterization of the Vibrati
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3.2 Characterization of the Vibrati
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3.2 Characterization of the Vibrati
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3.3 Characterization of the Tire Fo
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3.3 Characterization of the Tire Fo
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3.3 Characterization of the Tire Fo
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3.3 Characterization of the Tire Fo
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3.3 Characterization of the Tire Fo
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3.3 Characterization of the Tire Fo
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4.1 Tire Lateral Force 56Figure 4.1
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- Page 72 and 73: 4.3 Tire Vertical Force 62f ix (t)
- Page 74 and 75: Chapter 5Identification of the Robo
- Page 76 and 77: 5.1 Identification of the Geometric
- Page 78 and 79: 5.2 Identification of the Tire Dyna
- Page 80 and 81: 5.2 Identification of the Tire Dyna
- Page 82 and 83: 5.2 Identification of the Tire Dyna
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- Page 86 and 87: 5.2 Identification of the Tire Dyna
- Page 88 and 89: Chapter 6SimulationIn this chapter,
- Page 90 and 91: 6.1 Simulink Model 80On the right h
- Page 92 and 93: 6.1 Simulink Model 82Figure 6.3: Bl
- Page 94 and 95: 6.1 Simulink Model 84(a)(b)Figure 6
- Page 96 and 97: 6.1 Simulink Model 86that v icx can
- Page 98 and 99: 6.2 Simulation Results 88(a)(b)Figu
- Page 100 and 101: 6.2 Simulation Results 90enough to
- Page 102 and 103: 6.2 Simulation Results 92hand side
- Page 104 and 105: 6.2 Simulation Results 94(a)(b)Figu
- Page 106 and 107: 6.2 Simulation Results 96• For λ
- Page 108 and 109: AppendixesAppendix A1 %% Main progr
- Page 110 and 111: Appendixes 10080 title([conf,’; A
- Page 112 and 113: Appendixes 10224 Hd = design(h,filt
- Page 114 and 115: Appendixes 1043031 % Filter the dat
- Page 116 and 117: Appendixes 106(a)(b)(c)Figure 6.10:
- Page 120 and 121: Appendixes 110(a)(b)(c)Figure 6.14:
- Page 122 and 123: Appendixes 112(a)(b)(c)Figure 6.16:
- Page 124 and 125: Appendixes 114(a)(b)(c)Figure 6.18:
- Page 126 and 127: Appendixes 116(a)(b)(c)Figure 6.20:
- Page 128 and 129: Appendixes 118(a)(b)(c)Figure 6.22:
- Page 130 and 131: Appendixes 120(a)(b)Figure 6.24: Pe
- Page 132 and 133: Appendixes 122(a)(b)(c)Figure 6.25:
- Page 134 and 135: Appendixes 124(a)(b)(c)Figure 6.27:
- Page 136 and 137: Appendixes 126(a)(b)(c)Figure 6.29:
- Page 138 and 139: Appendixes 128(a)(b)(c)Figure 6.31:
- Page 140 and 141: Appendixes 130(a)(b)(c)Figure 6.33:
- Page 142 and 143: Appendixes 132(a)(b)(c)Figure 6.35:
- Page 144 and 145: Bibliography[1] G. Oriolo, A. De Lu