senmaderita:用于训练、开发和研究的半全向移动机器人

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI:10.1109/LARC.2011.6086819

Joaquin Alder Silva-Faundez, Ana Fuentealba-Bustos, C. Duran-Faundez

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引用次数: 0

摘要

本文介绍了用于训练、开发和研究应用的轮式半全向转向机器人Señor Maderita。它被认为是一个模块化的原型，由两个主要部分组成:一个用于动员的模块和另一个用于处理和传感的模块。机器人有4个独立的舵轮和8个伺服电机(每个舵轮2个)，以及一个伺服控制器。处理/感知模块有一个基于微控制器的全局控制卡和一些用于环境识别的传感器。进行了多次试验，将理论计算的轨迹与实际试验进行了比较。此外，还对一些商业平台进行了评估。实验结果表明，Señor Maderita在准确性和可靠性方面具有良好的性能。

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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Senor Maderita: A semi-omnidirectional mobile robot for training, development and research

This paper presents Señor Maderita, a wheeled semi-omnidirectional steering robot for training, development and research applications. It was conceived as a modular prototype consisting on two main parts: a module for mobilization and other for processing and sensing. The robot has 4 independently steerable wheels with eight servo motors (2 for each wheel), and a servo controller. The processing/perception module has a microcontroller-based card for global control and some sensors for environment recognition. Multiple tests were conducted, comparing theoretically calculated trajectories with real tests. Also, some commercial platforms were evaluated. The experimental results show good performance of Señor Maderita in terms of its accuracy and reliability.

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IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE

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