Modelado dinámico de un vehículo autónomo articulado todoterreno
Autor(a) principal: | |
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Data de Publicação: | 2017 |
Tipo de documento: | Dissertação |
Idioma: | spa |
Título da fonte: | Biblioteca Digital de Teses e Dissertações da UFRGS |
Texto Completo: | 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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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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info:eu-repo/semantics/masterThesis |
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masterThesis |
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publishedVersion |
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openAccess |
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application/pdf |
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