三轮全向机器人控制器的实现

2016 International Conference on Information Technology Systems and Innovation (ICITSI) Pub Date : 2016-10-01 DOI:10.1109/ICITSI.2016.7858240

Gusti Arif Hanifah Pawitan, K. Mutijarsa, W. Adiprawita

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引用次数: 3

摘要

本文介绍了一种全向机器人控制器的设计与实现。由于全向机器人的完整特性，移动机器人能够遵循任何计划的轨迹。在世界框架上计算路径，然后用逆运动学变换到每个移动机器人的电机速度。为此，建立了机器人的运动学模型，并利用PID控制器控制各作动器的速度。使用MATLAB®系统识别工具®识别每个执行器的传递函数，然后使用MATLAB®SIMULINK®平台进行仿真，设计出合适的PID控制。

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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Three-wheeled omnidirectional robot controller implementation

This paper presents a controller design and its implementation for an omnidirectional robot. Due to the holonomic nature of an omnidirectional robot, the mobile robot are able to follow any planned trajectory. The path are calculated on the world frame and then transformed using inverse kinematic to each of the mobile robot motor speed. Therefore a kinematic model for the robot are derived and a PID controller is utilized to control the speed of each actuator. MATLAB® System Identification Tools® is used to identify the transfer function of each actuator and then simulated using the MATLAB® SIMULINK® platform to design a suitable PID control.

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2016 International Conference on Information Technology Systems and Innovation (ICITSI)

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