Modelado dinámico de un vehículo autónomo articulado todoterreno

Detalhes bibliográficos
Ano de defesa: 2017
Autor(a) principal: Puignau, Francisco
Orientador(a): Laranja, Rafael Antonio Comparsi
Banca de defesa: Não Informado pela instituição
Tipo de documento: Dissertação
Tipo de acesso: Acesso aberto
Idioma: spa
Instituição de defesa: Não Informado pela instituição
Programa de Pós-Graduação: Não Informado pela instituição
Departamento: Não Informado pela instituição
País: Não Informado pela instituição
Palavras-chave em Português:
Robôs móveis
Modelos matemáticos
Palavras-chave em Inglês:
Mobile robot
Articulated robot
All terrain robot
Palavras-chave em Espanhol:
Robot móvil
Robot articulado
Robot todoterreno
Link de acesso: http://hdl.handle.net/10183/172267
Resumo: Faculty of Engineering in collaboration with the National Agricultural and Livestock Investigation Institute is developing a low cost platform capable of dealing with challenges imposed by agricultural activities, specifically, fruit transportation inside fields. In this context, the consequent dissertation focuses on the development of a dynamic model of an all terrain articulated autonomous vehicle to be applied in the aforementioned platform. The study includes the kinematic and dynamic analysis of the vehicle. Once those models are deducted, they are put together against the ones obtained for a biarticulated robot arm without ground fixation. To sum up, results will be adapted for computational simulation which was done via Gazebo, an ambience of the robot operating system ROS. Through this simulations it was possible to determine the model validity for the autonomous operating robotic platform.
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spelling Puignau, FranciscoLaranja, Rafael Antonio ComparsiPerondi, Eduardo André2018-02-01T02:25:49Z2017http://hdl.handle.net/10183/172267001058106Faculty of Engineering in collaboration with the National Agricultural and Livestock Investigation Institute is developing a low cost platform capable of dealing with challenges imposed by agricultural activities, specifically, fruit transportation inside fields. In this context, the consequent dissertation focuses on the development of a dynamic model of an all terrain articulated autonomous vehicle to be applied in the aforementioned platform. The study includes the kinematic and dynamic analysis of the vehicle. Once those models are deducted, they are put together against the ones obtained for a biarticulated robot arm without ground fixation. To sum up, results will be adapted for computational simulation which was done via Gazebo, an ambience of the robot operating system ROS. Through this simulations it was possible to determine the model validity for the autonomous operating robotic platform.Facultad de Ingeniería en conjunto con el Instituto Nacional de Investigación Agropecuaria desarrolla una plataforma móvil de bajo costo capaz de enfrentar los retos impuestos por la actividad agrícola, más específicamente, asistencia en el transporte de fruta. Es en este contexto que el presente trabajo se enfoca en desarrollar un modelo dinámico de un vehículo autónomo articulado todoterreno para ser aplicado en la mencionada plataforma. El estudio comprende el análisis de la cinemática y dinámica del vehículo. Una vez obtenidos los modelos cinemáticos y dinámicos, se compara los mismos con los obtenidos para un brazo biarticulado sin vínculo a tierra. Finalmente se adaptan los resultados para simulación computacional la cual fue realizada utilizando el ambiente Gazebo del sistema operativo robótico ROS. A través de esta simulación se pudo comprobar la validez del modelo desarrollado para la plataforma robótica autónoma en operación.application/pdfspaRobôs móveisModelos matemáticosMobile robotArticulated robotAll terrain robotRobot móvilRobot articuladoRobot todoterrenoModelado dinámico de un vehículo autónomo articulado todoterrenoinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisUniversidade Federal do Rio Grande do SulEscola de EngenhariaPrograma de Pós-Graduação em Engenharia MecânicaPorto Alegre, BR-RS2017mestradoinfo:eu-repo/semantics/openAccessreponame:Biblioteca Digital de Teses e Dissertações da UFRGSinstname:Universidade Federal do Rio Grande do Sul (UFRGS)instacron:UFRGSORIGINAL001058106.pdf001058106.pdfTexto completo (espanhol)application/pdf1575680http://www.lume.ufrgs.br/bitstream/10183/172267/1/001058106.pdf335d761625e64c561b87af0684918463MD51TEXT001058106.pdf.txt001058106.pdf.txtExtracted Texttext/plain88572http://www.lume.ufrgs.br/bitstream/10183/172267/2/001058106.pdf.txtf47cb918ecf6b57af3293a4162f02566MD52THUMBNAIL001058106.pdf.jpg001058106.pdf.jpgGenerated Thumbnailimage/jpeg1003http://www.lume.ufrgs.br/bitstream/10183/172267/3/001058106.pdf.jpga363562efdf43febee5e7e7cc16cf266MD5310183/1722672021-05-26 04:43:23.360622oai:www.lume.ufrgs.br:10183/172267Biblioteca Digital de Teses e Dissertaçõeshttps://lume.ufrgs.br/handle/10183/2PUBhttps://lume.ufrgs.br/oai/requestlume@ufrgs.br||lume@ufrgs.bropendoar:18532021-05-26T07:43:23Biblioteca Digital de Teses e Dissertações da UFRGS - Universidade Federal do Rio Grande do Sul (UFRGS)false
dc.title.pt_BR.fl_str_mv Modelado dinámico de un vehículo autónomo articulado todoterreno
title Modelado dinámico de un vehículo autónomo articulado todoterreno
spellingShingle Modelado dinámico de un vehículo autónomo articulado todoterreno
Puignau, Francisco
Robôs móveis
Modelos matemáticos
Mobile robot
Articulated robot
All terrain robot
Robot móvil
Robot articulado
Robot todoterreno
title_short Modelado dinámico de un vehículo autónomo articulado todoterreno
title_full Modelado dinámico de un vehículo autónomo articulado todoterreno
title_fullStr Modelado dinámico de un vehículo autónomo articulado todoterreno
title_full_unstemmed Modelado dinámico de un vehículo autónomo articulado todoterreno
title_sort Modelado dinámico de un vehículo autónomo articulado todoterreno
author Puignau, Francisco
author_facet Puignau, Francisco
author_role author
dc.contributor.author.fl_str_mv Puignau, Francisco
dc.contributor.advisor1.fl_str_mv Laranja, Rafael Antonio Comparsi
dc.contributor.advisor-co1.fl_str_mv Perondi, Eduardo André
contributor_str_mv Laranja, Rafael Antonio Comparsi
Perondi, Eduardo André
dc.subject.por.fl_str_mv Robôs móveis
Modelos matemáticos
topic Robôs móveis
Modelos matemáticos
Mobile robot
Articulated robot
All terrain robot
Robot móvil
Robot articulado
Robot todoterreno
dc.subject.eng.fl_str_mv Mobile robot
Articulated robot
All terrain robot
dc.subject.spa.fl_str_mv Robot móvil
Robot articulado
Robot todoterreno
description Faculty of Engineering in collaboration with the National Agricultural and Livestock Investigation Institute is developing a low cost platform capable of dealing with challenges imposed by agricultural activities, specifically, fruit transportation inside fields. In this context, the consequent dissertation focuses on the development of a dynamic model of an all terrain articulated autonomous vehicle to be applied in the aforementioned platform. The study includes the kinematic and dynamic analysis of the vehicle. Once those models are deducted, they are put together against the ones obtained for a biarticulated robot arm without ground fixation. To sum up, results will be adapted for computational simulation which was done via Gazebo, an ambience of the robot operating system ROS. Through this simulations it was possible to determine the model validity for the autonomous operating robotic platform.
publishDate 2017
dc.date.issued.fl_str_mv 2017
dc.date.accessioned.fl_str_mv 2018-02-01T02:25:49Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
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dc.identifier.uri.fl_str_mv http://hdl.handle.net/10183/172267
dc.identifier.nrb.pt_BR.fl_str_mv 001058106
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