Lightweight Robotic Mobility: Template-based Modeling for Dynamics and Controls Using ADAMS and MATLAB U.S. Army Tank-Automotive Research, Development, and Engineering Center (TARDEC)

Format:

Conference/Event

Author/Creator:

Adamczyk, Peter G., author.

Conference Name:

SAE 2003 World Congress & Exhibition (2003-03-03 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2003

Summary:

The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility. We have developed a computer model of one concept robot, the "T1" omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's off-road mobility. The T1 is a lightweight robot with an innovative running-gear and control strategy to enhance mobility characteristics. We built the dynamic model of T1 in ADAMS/Car and the control system in MATLAB/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T1 ODV. It also discusses effective linking of ADAMS and MATLAB for control system development. Finally, this paper includes a section describing the extension of the T1 templates to other similar ODV concepts for rapid development

Notes:

Vendor supplied data

Publisher Number:

2003-01-0269

Access Restriction:

Restricted for use by site license