SciELO - Scientific Electronic Library Online

vol.35 issue2EEWES: An energy-efficient wireless sensor network embedded system to be applied on industrial environmentsAn algorithm for identifying the best current friend in a social network author indexsubject indexarticles search
Home Pagealphabetic serial listing  

Services on Demand



Related links

  • On index processCited by Google
  • Have no similar articlesSimilars in SciELO
  • On index processSimilars in Google


Ingeniería e Investigación

Print version ISSN 0120-5609


GARCIA-SILLAS, D et al. Kinematics modeling and simulation of an autonomous omni-directional mobile robot. Ing. Investig. [online]. 2015, vol.35, n.2, pp.74-79. ISSN 0120-5609.

Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio® and Matlab® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot.

Keywords : Mobile robots; robotics; kinematics; modeling and simulation.

        · abstract in Spanish     · text in English     · English ( pdf )