Experimental motion control behaviour of a mobile robot with spinning turret

2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02. Pub Date : 2002-12-11 DOI:10.1109/ICIT.2002.1189953

M. Foglia, A. Gentile, N. Giannoccaro

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Abstract

A computer wireless-controlled mobile vehicle is described. The vehicle is designed to optimize the cinematic and dynamic behaviours. It has a circular shape, two fixed axis driven wheels, independent brushless motors coupled with a pair of ball wheels; and a third actuator driving a spinning turret (superior platform) to reduce the inertial couple during the turns. The feedback signals are generated by two optical incremental encoders linked to the motor shafts for velocity signals and by odometric sensors for position signals. Two track-balls, each of them with two encoders, are used to measure and control the mobile robot displacement on the floor. Moreover, a protection bumper surrounds the perimeter of the lower platform and it works like a switch. Several experimental tests have been developed and we show the evaluation of the position error in a closed loop paths, reporting the difference between the starting point and the final one. The motion control strategy is described with comments about the choice of the control parameters.

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旋转转塔移动机器人运动控制实验研究

描述了一种计算机无线控制的移动车辆。车辆的设计是为了优化电影和动态行为。它具有圆形，两个固定轴的从动轮，独立的无刷电机耦合一对滚珠轮;第三作动器驱动旋转炮塔(上级平台)，以减少转弯时的惯性耦合。反馈信号由连接到电机轴的两个光学增量编码器产生速度信号，由里程传感器产生位置信号。两个轨道球，每个轨道球都有两个编码器，用于测量和控制移动机器人在地板上的位移。此外，一个保护保险杠围绕着低平台的周边，它的工作原理就像一个开关。我们开发了几个实验测试，并展示了闭环路径中位置误差的评估，报告了起点和终点之间的差异。对运动控制策略进行了描述，并对控制参数的选择进行了评论。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.

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