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

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Appendixes 132(a)(b)(c)Figure 6.35: Amplitude <strong>of</strong> the simulation results with: (a) λ max = 1; (b) λ max = 10 −1 ; (c) λ max = 10 −2 .
Appendixes 133(a)(b)Figure 6.36: Amplitude <strong>of</strong> the simulation results with: (a) λ max = 10 −3 ; (b) λ max = 10 −4 .
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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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3.3 Characterization of the Tire Fo
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4.1 Tire Lateral Force 56Figure 4.1
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4.1 Tire Lateral Force 58velocity b
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4.1 Tire Lateral Force 600 ≤ µ i
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4.3 Tire Vertical Force 62f ix (t)
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Chapter 5Identification of the Robo
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5.1 Identification of the Geometric
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5.2 Identification of the Tire Dyna
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Chapter 6SimulationIn this chapter,
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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:
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Page 144 and 145: Bibliography[1] G. Oriolo, A. De Lu
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