Título: | ANALYSIS OF TRAJECTORY AND ORIENTATION OF AN OMNIDIRECTIONAL VEHICLE | ||||||||||||
Autor(es): |
DANIEL PINHEIRO DE CARVALHO |
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Colaborador(es): |
MAURO SPERANZA NETO - Orientador |
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Catalogação: | 23/FEV/2018 | 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=33094@1 [en] https://www.maxwell.vrac.puc-rio.br/projetosEspeciais/TFCs/consultas/conteudo.php?strSecao=resultado&nrSeq=33094@2 |
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DOI: | https://doi.org/10.17771/PUCRio.acad.33094 | ||||||||||||
Resumo: | |||||||||||||
Modeling, simulation and analysis of the kinematics and partial modeling of the dynamics of an omnidirectional tricycle. The work will complement previous studies on the same theme with a new approach: the models will be developed using the Bond Graphs technique, and the control of the tricycle will be given by the steering of 3 wheels through independent DC electric servo motors, instead of omni-directional wheels.
At the end of this project, the objective is to obtain a model that allows in the future to compare the kinematic performance of this vehicle and other forms of omnidirectional movement, as well as a brief observation of the dynamics involved.
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