Ingeniería e Investigación · 2015 · 15 citations · 0 references
EngineeringMechanical EngineeringRobotics EngineeringMobile RoboticsRobot KinematicsRoboticsKinematic DesignKinematic ModelingKinematic SimulationKinematicsMobile Robot KinematicsMobile Robot Platform DesignComputational KinematicsKinematic Chain ModelingOmnidirectional LocomotionOmnidirectional Mobile RobotsOmnidirectional Robot KinematicsRobot Kinematic ModelingRobot SimulationWheeled Robot Locomotion
Robotics has become accessible with low‑cost projects, yet accurate physical models are still needed, and a virtual platform can test AI algorithms, uncover design issues, and the experimental environment closely mimics real kinematics. The study presents a methodology for building and simulating a kinematic model of an autonomous omni‑directional wheeled robot, detailing its development and implementation with multiple tools. The authors built a virtual platform that models the robot’s kinematics, enabling AI behavior algorithm testing and design‑issue detection, and implemented the kinematic model using multiple tools. The resulting model accurately reproduces the kinematics of a triangular omni‑directional mobile wheeled robot and was validated through 3D Studio and Matlab simulations.
<p class="Abstractandkeywordscontent"><span lang="EN-US">Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio</span><span lang="EN-US">®</span><span lang="EN-US"> and Matlab</span><span lang="EN-US">® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot.</span></p>