Details
| Translated title of the contribution | Entwurf einer mobilen Freiluftplattform für Reibungsmessungen auf Straßenbelägen |
|---|---|
| Original language | English |
| Title of host publication | Proc. of the Int. Colloquium on Autonomous and Mobile Systems, Frauenhofer IRB |
| Place of Publication | Magdeburg, Deutschland |
| Pages | 65-68 |
| Number of pages | 4 |
| Publication status | Published - 2002 |
Abstract
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Proc. of the Int. Colloquium on Autonomous and Mobile Systems, Frauenhofer IRB. Magdeburg, Deutschland, 2002. p. 65-68.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Design of an Outdoor Mobile Platform for Friction Measurement on Street Surfaces
AU - Blume, H.
AU - Heimann, Bodo
AU - Lindner, M.
PY - 2002
Y1 - 2002
N2 - The measurement of friction coefficients between rubber compounds and street surfaces is limited by the necessity for complex measuring systems, which are not available in the field. In this paper the design of a mobile measuring platform for measuring the friction coefficient between a rubber testing wheel and the street surface is presented. The integration of a measuring device into a mobile robot enables laboratory precision measurements on outdoor street surfaces. The 3-wheel robotic platform consists of two driven back wheel modules and a non-driven but steered front wheel module carrying the measuring device, batteries for power supply, and an on-board computer with the real-time operating system RTOS-UH. Control algorithms for the wheel modules and the measuring device are implemented in the on-board computer while communication is taken via CAN bus. The system is operated by a WINDOWS notebook as user interface connected through TCP/IP protocol via radio LAN enabling partially autonomous operation. In order to measure the friction coefficient, the rubber testing wheel is pressed onto the street surface applying a predefined contact force in a closed loop control and it is driven to provide constant sliding velocity. The friction coefficient is computed as the ratio of the measured friction force and the actual contact force.
AB - The measurement of friction coefficients between rubber compounds and street surfaces is limited by the necessity for complex measuring systems, which are not available in the field. In this paper the design of a mobile measuring platform for measuring the friction coefficient between a rubber testing wheel and the street surface is presented. The integration of a measuring device into a mobile robot enables laboratory precision measurements on outdoor street surfaces. The 3-wheel robotic platform consists of two driven back wheel modules and a non-driven but steered front wheel module carrying the measuring device, batteries for power supply, and an on-board computer with the real-time operating system RTOS-UH. Control algorithms for the wheel modules and the measuring device are implemented in the on-board computer while communication is taken via CAN bus. The system is operated by a WINDOWS notebook as user interface connected through TCP/IP protocol via radio LAN enabling partially autonomous operation. In order to measure the friction coefficient, the rubber testing wheel is pressed onto the street surface applying a predefined contact force in a closed loop control and it is driven to provide constant sliding velocity. The friction coefficient is computed as the ratio of the measured friction force and the actual contact force.
M3 - Conference contribution
SP - 65
EP - 68
BT - Proc. of the Int. Colloquium on Autonomous and Mobile Systems, Frauenhofer IRB
CY - Magdeburg, Deutschland
ER -