- 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 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: 3.2 Characterization of the Vibrati
- Page 52 and 53: 3.2 Characterization of the Vibrati
- Page 54 and 55: 3.3 Characterization of the Tire Fo
- Page 56 and 57: 3.3 Characterization of the Tire Fo
- Page 58 and 59: 3.3 Characterization of the Tire Fo
- Page 60 and 61: 3.3 Characterization of the Tire Fo
- Page 62 and 63: 3.3 Characterization of the Tire Fo
- Page 64 and 65: 3.3 Characterization of the Tire Fo
- 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: 5.2 Identification of the Tire Dyna
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5.2 Identification of the Tire Dyna
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5.2 Identification of the Tire Dyna
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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
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6.1 Simulink Model 82Figure 6.3: Bl
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6.1 Simulink Model 84(a)(b)Figure 6
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6.1 Simulink Model 86that v icx can
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6.2 Simulation Results 88(a)(b)Figu
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6.2 Simulation Results 90enough to
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6.2 Simulation Results 92hand side
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6.2 Simulation Results 94(a)(b)Figu
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6.2 Simulation Results 96• For λ
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AppendixesAppendix A1 %% Main progr
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Appendixes 10080 title([conf,’; A
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Appendixes 10224 Hd = design(h,filt
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Appendixes 1043031 % Filter the dat
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Appendixes 106(a)(b)(c)Figure 6.10:
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Appendixes 108(a)(b)(c)Figure 6.12:
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Appendixes 110(a)(b)(c)Figure 6.14:
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Appendixes 112(a)(b)(c)Figure 6.16:
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Appendixes 114(a)(b)(c)Figure 6.18:
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Appendixes 116(a)(b)(c)Figure 6.20:
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Appendixes 118(a)(b)(c)Figure 6.22:
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Appendixes 120(a)(b)Figure 6.24: Pe
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Appendixes 122(a)(b)(c)Figure 6.25:
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Appendixes 124(a)(b)(c)Figure 6.27:
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Appendixes 126(a)(b)(c)Figure 6.29:
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Appendixes 128(a)(b)(c)Figure 6.31:
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Appendixes 130(a)(b)(c)Figure 6.33:
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Appendixes 132(a)(b)(c)Figure 6.35:
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Bibliography[1] G. Oriolo, A. De Lu