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Felipe Martins

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Federal Institute of Education, Science and Tech. of Espirito Santo

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Engineer, teacher, roboticist...


 

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Files Posted by Felipe Martins
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20 Nov 2014 Screenshot Velocity-based dynamic model and adaptive controller for differential steered mobile robot Blocks for simulation of the differential steered dynamics. Some controllers are included. Author: Felipe Martins mobile robot, robot, differential steered, dynamic model, adaptive controller, unicycle 84 3
  • 5.0
5.0 | 3 ratings
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11 Nov 2014 Velocity-based dynamic model and adaptive controller for differential steered mobile robot Blocks for simulation of the differential steered dynamics. Some controllers are included. Author: Felipe Martins

Hello, K.

The following are sets of identified parameters for some robots.

[0.2604 0.2509 -0.000499 0.9965 0.00263 1.0768]; % Pioneer 3DX with Sick LASER sensor
[0.5338 0.2168 -0.0134 0.9560 -0.0843 1.0590]; % Pioneer 3DX without LASER sensor
[0.2183 0.1918 -0.0050 0.9993 -0.0279 1.0142]; % Pioneer 3DX (identified by Jeffrey Laut)
[0.1992 0.13736 0.001954 0.9907 0.01554 0.9866]; % Pioneer 2 without onboard computer (no LASER sensor)
[0.3037 0.2768 -0.0004018 0.9835 0.003818 1.0725]; % Pioneer 2 with onboard computer (no LASER sensor)
[0.3759 0.0188 0.0128 1.0027 -0.0015 0.9808]; % Robotic wheelchair carring a 55kg person
[0.4263 0.0289 0.0058 0.9883 0.0134 0.9931]; % Robotic wheelchair carring a 125kg person
[0.0228 0.0568 -0.0001 1.0030 0.0732 0.9981]; % Khepera III (identified by Jeffrey Laut)

You can also check the dynamic parameters by clicking on the "help" option of the "DiffSteer Dynamics" block.

You can change the set of dynamic parameters by double-clicking on the "DiffSteer Dynamics" block and typing one of the above parameters on the appropriate box.

The procedure to identify the dynamic parameters for a given robot is described on the following references:

De La CRUZ, C., CARELLI, R. Dynamic model based formation control and obstacle avoidance of multi-robot systems. Robotica, n. 3, v. 26, p. 345--356, 2008.

LAUT, Jeffrey. A Dynamic Parameter Identification Method for Migrating Control Strategies Between Heterogeneous Wheeled Mobile Robots. M.Sc. Diss. Worcester Polytechnic Institute, 2011.

30 Jul 2014 MATLAB Support for Arduino (aka ArduinoIO Package) MATLAB class and Simulink blocks for communicating with an Arduino microcontroller board Author: MathWorks Classroom Resources Team

Great package! Thanks a lot!

Comments and Ratings on Felipe Martins' Files View all
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11 Nov 2014 Velocity-based dynamic model and adaptive controller for differential steered mobile robot Blocks for simulation of the differential steered dynamics. Some controllers are included. Author: Felipe Martins Felipe Martins

Hello, K.

The following are sets of identified parameters for some robots.

[0.2604 0.2509 -0.000499 0.9965 0.00263 1.0768]; % Pioneer 3DX with Sick LASER sensor
[0.5338 0.2168 -0.0134 0.9560 -0.0843 1.0590]; % Pioneer 3DX without LASER sensor
[0.2183 0.1918 -0.0050 0.9993 -0.0279 1.0142]; % Pioneer 3DX (identified by Jeffrey Laut)
[0.1992 0.13736 0.001954 0.9907 0.01554 0.9866]; % Pioneer 2 without onboard computer (no LASER sensor)
[0.3037 0.2768 -0.0004018 0.9835 0.003818 1.0725]; % Pioneer 2 with onboard computer (no LASER sensor)
[0.3759 0.0188 0.0128 1.0027 -0.0015 0.9808]; % Robotic wheelchair carring a 55kg person
[0.4263 0.0289 0.0058 0.9883 0.0134 0.9931]; % Robotic wheelchair carring a 125kg person
[0.0228 0.0568 -0.0001 1.0030 0.0732 0.9981]; % Khepera III (identified by Jeffrey Laut)

You can also check the dynamic parameters by clicking on the "help" option of the "DiffSteer Dynamics" block.

You can change the set of dynamic parameters by double-clicking on the "DiffSteer Dynamics" block and typing one of the above parameters on the appropriate box.

The procedure to identify the dynamic parameters for a given robot is described on the following references:

De La CRUZ, C., CARELLI, R. Dynamic model based formation control and obstacle avoidance of multi-robot systems. Robotica, n. 3, v. 26, p. 345--356, 2008.

LAUT, Jeffrey. A Dynamic Parameter Identification Method for Migrating Control Strategies Between Heterogeneous Wheeled Mobile Robots. M.Sc. Diss. Worcester Polytechnic Institute, 2011.

05 Nov 2014 Velocity-based dynamic model and adaptive controller for differential steered mobile robot Blocks for simulation of the differential steered dynamics. Some controllers are included. Author: Felipe Martins k

Can you please explain how I can select which dynamic is being used?
e.g. How can I change the dynamics between Pioneer 3DX and the Pioneer 2?

And thank you so much for sharing this models, amazing job.

15 May 2014 Velocity-based dynamic model and adaptive controller for differential steered mobile robot Blocks for simulation of the differential steered dynamics. Some controllers are included. Author: Felipe Martins Amine kamal

11 May 2014 Velocity-based dynamic model and adaptive controller for differential steered mobile robot Blocks for simulation of the differential steered dynamics. Some controllers are included. Author: Felipe Martins Mohamed Kamel

Thank you Prof. Martins for this file

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