FENG, Yuqing (2024) Analysis of passable areas for robots in open space PRE - Research Project, ENSTA.
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Abstract
Robot mobility in open terrain requires a thorough understanding of the environment. The robot Barakuda is equipped with a passive suspension system designed to minimize relative movement of the main body when in contact with uneven ground. Therefore, it is essential to model the robot's dynamic capabilities, taking into account its non-vertical suspension system. This report aims to present the models developed for the dynamics and kinematics of the robot. Frequency and time-domain responses are provided using various numerical algorithm. Additionally, a low-level control algorithm adapted to open environments is presented.
Item Type: | Thesis (PRE - Research Project) |
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Uncontrolled Keywords: | modelisation, control, vehicle suspension |
Subjects: | Materials Science, Mechanics and Mechanical Engineering |
ID Code: | 10214 |
Deposited By: | Yuqing FENG |
Deposited On: | 09 sept. 2024 17:20 |
Dernière modification: | 09 sept. 2024 17:20 |
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