TRABALHOS DE FIM DE CURSO @PUC-Rio
| Título: | MODELING AND CONTROL OF AN OMNIDIRECTIONAL VEHICLE | ||||||||||||
| Autor(es): |
LETICIA NICOLINO DE SA |
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| Colaborador(es): |
MAURO SPERANZA NETO - Orientador RODRIGO NEUMANN - Coorientador |
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| Catalogação: | 01/AGO/2017 | Língua(s): | PORTUGUESE - BRAZIL |
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| Tipo: | TEXT | Subtipo: | SENIOR PROJECT | ||||||||||
| Notas: |
[pt] Todos os dados constantes dos documentos são de inteira responsabilidade de seus autores. Os dados utilizados nas descrições dos documentos estão em conformidade com os sistemas da administração da PUC-Rio. [en] All data contained in the documents are the sole responsibility of the authors. The data used in the descriptions of the documents are in conformity with the systems of the administration of PUC-Rio. |
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| Referência(s): |
[pt] https://www.maxwell.vrac.puc-rio.br/projetosEspeciais/TFCs/consultas/conteudo.php?strSecao=resultado&nrSeq=30772@1 [en] https://www.maxwell.vrac.puc-rio.br/projetosEspeciais/TFCs/consultas/conteudo.php?strSecao=resultado&nrSeq=30772@2 |
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| DOI: | https://doi.org/10.17771/PUCRio.acad.30772 | ||||||||||||
| Resumo: | |||||||||||||
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Mobile robots are mechanical vehicles, equipped with a locomotion system, with a navigation capability through a determined working environment path. In this work, an omnidirectional vehicle was used. The omnidirectional vehicle is able to move in three degrees of freedom and for that, it is necessary a control system that makes it able to the vehicle follow a predefined path. In this work a kinematic and dynamic model was developed for movement of an OmniMove robot movement, the omnidirectional vehicle of Kuka Robotics, and based on this model, a controller of its positions in order to the vehicle be able to carry out a predefined path. Seven PID controllers were used for position and torque control. For the simulation, the MatLab and Simulink tools were used.
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