Advance Modeling of a Skid-Steering Mobile Robot for Remote ...

More documents

Recommendations

Info

Appendixes 124(a)(b)(c)Figure 6.27: Simulation results from accelerometers and their FFT with λ max = 10 −2 <strong>for</strong>: (a) ω ∗ z = 10 degs ; (b)ω ∗ z = 30 degs ; (c) ω∗ z = 60 degs .
Appendixes 125(a)(b)(c)Figure 6.28: Simulation results from accelerometers and their FFT with λ max = 10 −3 <strong>for</strong>: (a) ω ∗ z = 10 degs ; (b)ω ∗ z = 30 degs ; (c) ω∗ z = 60 degs .
Page 1 and 2:
Università degli Studi di GenovaRo
Page 3 and 4:
IINothing great in the World has be
Page 5:
CONTENTSIV6 Simulation 786.1 Simuli
Page 8 and 9:
LIST OF FIGURESVII6.4 (a) Block sch
Page 10 and 11:
List of Tables5.1 Table of the geom
Page 12 and 13:
Introduction 2boDynamics, VGo Commu
Page 14 and 15:
Introduction 4The robot employed, i
Page 16 and 17:
Chapter 1Hardware and SoftwareIn th
Page 18 and 19:
1.1 The Pioneer 3-AT Robot 8four ho
Page 20 and 21:
1.2 The sensors 10control resolutio
Page 22 and 23:
2.1 State of the Art 12not negligib
Page 24 and 25:
2.1 State of the Art 14velocity vec
Page 26 and 27:
2.1 State of the Art 16Figure 2.3:
Page 28 and 29:
2.1 State of the Art 18Finally, by
Page 30 and 31:
2.1 State of the Art 20constraint (
Page 32 and 33:
2.1 State of the Art 22approximates
Page 34 and 35:
2.2 Generalized Modeling 24⎡1 0¯
Page 36 and 37:
2.2 Generalized Modeling 26V = [v T
Page 38 and 39:
2.2 Generalized Modeling 28where T(
Page 40 and 41:
2.2 Generalized Modeling 30⎡g R(J
Page 42 and 43:
2.2 Generalized Modeling 32where we
Page 44 and 45:
Chapter 3Experimental DataIn this c
Page 46 and 47:
3.1 The accelerometer 36(a)(b)Figur
Page 48 and 49:
3.2 Characterization of the Vibrati
Page 50 and 51:
Page 52 and 53:
Page 54 and 55:
3.3 Characterization of the Tire Fo
Page 56 and 57:
Page 58 and 59:
Page 60 and 61:
Page 62 and 63:
Page 64 and 65:
Page 66 and 67:
4.1 Tire Lateral Force 56Figure 4.1
Page 68 and 69:
4.1 Tire Lateral Force 58velocity b
Page 70 and 71:
4.1 Tire Lateral Force 600 ≤ µ i
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:
Page 82 and 83:
Page 84 and 85: 5.2 Identification of the Tire Dyna
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 130 and 131: Appendixes 120(a)(b)Figure 6.24: Pe
Page 144 and 145: Bibliography[1] G. Oriolo, A. De Lu
show all

Advance Modeling of a Skid-Steering Mobile Robot for Remote ...

Create successful ePaper yourself

Delete template?

Save as template?