DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY 1

... mR ˜  F1 ˜ ˜ F = F2  ˜ F3 ˜ B = 0 u1 ˜ 12 0 , u = uβa B (1. 10) (1. 11) (1. 12) (1. 13) 2 ˜ M 11 = Ixf + Ixw + Ixw Cβ + mR2 Cβ + Ixf Cββa (1. 14) ˜ M13 = 2Ixw Cβ + mR2 Cβ (1. 15) ˙ ˙˙ ˜ F1 = (Ixw ... simplification and assumption, the dynamics becomes( [16 ] and [18 ]): ˙ βa = uβa ˜ q ¨ ˜ q ˜ ˜˜ ˙ M (˜)q = F (˜, q ) + B u ˜ 13 (1. 9) with   α q = β  ˜ γ ˜  ˜ M 11 M13 ˜  M =...

Ngày tải lên: 14/09/2015, 08:37

... (4 .22 )  2IxW + mR2  M13 IxF IxF     F1 0     u1 F  0 0 F =  2 , B =  ,u = u2 F3  1 0 F4 where, M11 = IxF + IxW + IxW cos2 β + mR2 cos2 β + IxF cos2 (β + βa ) M13 = 2IxW ... + mR2 ) cos β sin β 2 − IxF cos (β + βa )sin(β + βa ) 2 ˙ ˙ −(2IxW + mR2 ) sin β αγ − 2IxF sin (β + βa )αγa ˙˙ ˙˙ F3 = 2( IxW + mR2 ) sin β αβ ˙ ˙ F4 = −IxF cos (β + βa ) sin (β + βa ) 2 − 2IxF...

Ngày tải lên: 14/09/2015, 08:37

... present the design and control of an underactuated two link robot called the Pendubot We first give details of the design of the Pendubot, discussing the components of the linkage and the interface ... Front and Side Perspective Drawings of the Pendubot direct drive control, we designed the Pendubot to hang off the side of a table coupling l...

Ngày tải lên: 31/03/2014, 23:20

... charge of the execution of the high-level velocity commands For each wheel, an 8-bit ST6265 microcontroller imple- Control of Wheeled Mobile Robots: An Experimental Overview PC ROBOT ωL PID microcontroller ... facts: Control of Wheeled Mobile Robots: An Experimental Overview 37 • The unicycle reaches the origin with a horizontal tangent (θ = or π), because...

Ngày tải lên: 26/10/2014, 14:32

... INVESTIGATIONS INTO DESIGN AND CONTROL OF POWER ELECTRONIC SYSTEMS FOR FUTURE MICROPROCESSOR POWER SUPPLIES Ravinder Pal Singh (B.Tech(Hons), IIT Kharagpur, India) A THESIS SUBMITTED FOR ... requirements, the design of next generation VRMs need a thorough understanding of the performance and design trade-os The supply voltage of the microprocessor w...

Ngày tải lên: 11/09/2015, 10:06

... Torque performance of SVM based DTC and Current Control for a wide speed operation 169 6.26 Power performance of SVM based DTC and Current Control for a wide speed operation ... Control of IPMSM in Wide Speed Operation 24 Outline of the Thesis 25 Analysis of Interior Permanent Magnet Synchronous Motors for Wide- Speed Operation ... pr...

Ngày tải lên: 15/09/2015, 22:06

... hardware, (2) walking control and (3) artificial intelligence CHAPTER 2: LITERATURE REVIEW 2.1 Mechanical Design and Hardware In the area of mechanical design, one of the important areas is ... normal gearbox remains the common selection by small size humanoid robots as they are usually integrated with motors as a compact package by the manufacturer and are much cheape...

Ngày tải lên: 04/10/2015, 10:25

... creating a small-sized humanoid robot, which is capable of walking stably and performing some basic soccer playing skills such as approaching a ball and kicking it toward a goal, defending a goal, avoiding ... repetitive and hazardous tasks can be dated back to the era of ancient Greek and Egyptian with their automata More recently, Leonardo da Vinci, a talented...

Ngày tải lên: 04/10/2015, 10:25

... user a full information for the hardware and software interface The humanoid robot weighs 6kg and stands 48cm tall It has a total of 20 Degree of Freedom (DOF) - DOF each leg and DOF each arm ... researchers adopt for bipedal walking Section 2.2 is an overview of teleoperation and classifications of the control methods of teleoperation system 2.1 Bipedal...

Ngày tải lên: 04/10/2015, 10:25

... concerned with the discussion of: Dynamics and control of distributed parameter systems and recycle systems in chemical engineering The organization of this thesis is as follows: Chapter deals with recycles ... lumped parameter systems with recycle to distributed parameter systems with recycle We see this as a step towards integrating some of the di...

Ngày tải lên: 04/10/2015, 17:06

... representations of the position of the flexible link By generalizing the modeling of single link robot, the modeling of a n -link robot is presented From the simulation results of the proposed controller ... can be directly controlled by motors, and thus the number of the variables to be controlled is equal to the number of the control inputs For flexible link...

Ngày tải lên: 26/11/2015, 12:31

... Practical slip detection and estimation schemes for wheeled mobile robots • General slip control structure for wheeled mobile robots • Robust and real time slip control techniques • Control of wheeled ... Mitsubishi PA10 7DOF manipulator and an omnidirectional wheeled mobile robot with Powered Caster Wheels Unified force/motion control is imp...

Ngày tải lên: 14/09/2015, 08:43

... y , θ ) and vice versa The translational velocity of wheel hub vi can be divided into a part due to pure translation of the robot and a part due to pure rotation of the robot: νi =νtrans, i +νrot ... wheels can be seen in robotics, industry, and logistics The main sources of omnidirectional wheels are companies which produce them for omnidirectional conveyor systems, for exam...

Ngày tải lên: 04/10/2015, 10:26

... systems A complete C2 system is described by its control architecture and the underlying software architecture 2.1 Command and Control Architecture Command and Control system architecture generally ... develop a command and control system that can be deployed in modular AUVs and in the future, allows natural extension and simple modification for multi-AUV sce...

Ngày tải lên: 04/10/2015, 10:26