Journal of Automation and Control
ISSN (Print): 2372-3033 ISSN (Online): 2372-3041 Website: Editor-in-chief: Santosh Nanda
Open Access
Journal Browser
Journal of Automation and Control. 2015, 3(3), 110-113
DOI: 10.12691/automation-3-3-14
Open AccessArticle

Model of Mobile Robot with Divided Chassis

Ľubica Miková1, , Michal Kelemen1 and Alexander Gmiterko1

1Technical University of Košice, Faculty of Mechanical Engineering, Department of Mechatronics, Košice, Slovakia

Pub. Date: December 15, 2015

Cite this paper:
Ľubica Miková, Michal Kelemen and Alexander Gmiterko. Model of Mobile Robot with Divided Chassis. Journal of Automation and Control. 2015; 3(3):110-113. doi: 10.12691/automation-3-3-14


This article is about designing and constructing a four-wheel chassis, which will possess better negotiability of diverse terrain. Analyzed is a used concept of chassis motion control of mechatronic systems on the principle of differential wheel control for the task of active tracking of planned chassis path. Created was a simulation model of chassis mobile system in terms of kinematics, which will be usable in concept of chassis locomotion control on diverse terrain. A model is also required for examining behavior of chassis on diverse terrain, for examining the influence of dimensions on chassis behavior during crossing over roughness of terrain.

mobile robot simulation

Creative CommonsThis work is licensed under a Creative Commons Attribution 4.0 International License. To view a copy of this license, visit


Figure of 7


[1]  J. SMRČEK, L. KÁRNIK, “Robotics, Industrial robots, Desing –Construction – Solutions,” Košice, 2008.
[2]  R. GREPL, “Mechatronics-selected problems,“ Brno 2008.
[3]  R. GREPL, “Modeling mechatronics systems in Matlab SimMechanics,” Praha, 2007.
[4]  R. GREPL, “Kinematics a dynamics mechatronics systems,” Brno 2007.
[5]  M. NICULESCU, “Experiments in Mobile Robot Control,” Mechatronics 2008.
[6]  V. BRÁT, “Matrix methods of analysis and synthesis of space committed mechanical systems,” Praha, 1981.
[7]  L. GRACIA, J. TORNERO, “Kinematic control of wheeled mobile robots. Latin American Applied Research,”. Vol. 38, p. 7-16 (2008).
[8]  CH. CHIH-FU, H. CHIN-I, F. LI-CHEN, “Nonlinear Control of a Wheeled Mobile Robot with Nonholonomic Constraints,” IEEE International Conference on Systems, Man and Cybernetic, p. 5404-5410.
[9]  E. IVANJKO,E. KOMSIC, I. PETROVIC, “Simple off-line odometry calibration of differential drive mobile robots,” in Proceedings of 16th International Workshop on Robotics in Alpe-Adria-Danube Region, Ljubljana, Slovenia, june 7-9, 2007, p. 164-169.
[10]  L. JURIŠICA, A. VITKO, “Mechanics and robotics,” AT&P Journal 11/1998, p. 44-45.
[11]  E. LUCET, Ch. GRAND, D. SALLÉ, P. BIDAUD, “Dynamic control of the 6WD skid-steering mobile robot RobuROC6 using sliding mode technique,” The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009 St. Louis, USA.
[12]  J. ŠKARUPA, V. MOSTÝN, “Methods and tools of design industrial and service robots,” Vienala Košice, 2002.
[13]  M. VALÁŠEK, “Kinematics of robotic systems,” 2011.
[14]  Ľ. MIKOVÁ, M. KELEMEN, T. KELEMENOVÁ, “Four wheels inspection robot with differential wheels control,” Acta Mechanica Slovaca, Roc. 12, c.3-B (2008), p. 548-558.
[15]  J. HAIYANG, Z. PENG, H. YING, Z. JIANWEI, Z. ZHIZENG, Design and Kinematic Analysis of A Pedicle Screws Surgical Robot, Proceedings of the 2010 IEEE International Conference on Robotics and Biomimetics, December 14-18, 2010, Tianjin, China.