DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY 2

... (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 ... A(q) into A1 and A2 , and let C(q) = −A−1 A2 I4×4 (4 .28 ) Consider the following relationship q = C(q)q2 ˙ ˙ (4 .29 ) where q1 = [X, Y ]T and q2 = [α, β, γ, βa ]T Diﬀerentiaing Equation 4 .29 yields,...

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 =  Ixf + Ixw + mR2 ˜ M13 ... analysis of the development and classiﬁcation of different kinds of wheeled mobile robots can be found in [1] For all these kinds of mobile robots, the nonholonomic constraints reduce the range of...

MECHANICAL DESIGN AND CONTROL OF THE PENDUBOT potx

... 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 link one directly to the shaft of the motor The mount and ... approximation of the dynamic parameters of the system (See Chapter 4) Then the software package Simnon [4] was used to simulate the dynamic equations and controller of the Pendubot (See Chapter 8) The design...

control of wheeled mobile robots an experimental overview

... 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 y approaches zero faster than x in view of the ... however, stands on its own and has been exploited by other researchers, e.g., in [3] Also, the polar coordinates controller has been adapted Control of Wheeled Mobile Robots: An Experimental Overview...

Investigations into design and control of power electronic systems for future microprocessor power supplies

... 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 will drop to below V and the supply ... (a) Analog PWM controller and (b) Digital PWM controller microprocessor and the other generic advantages of digital control, it is a challenge to deliver the performance required of the next generation...

Analysis, design and control of permanent magnet synchronous motors for wide speed operation

... 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 ... presents aspects of analysis, design and control of permanent magnet synchronous motors (PMSMs) for wide- speed operations An analytical method has been developed based on d- and q- axis equivalent...

Design and control of a small size humanoid robot

... 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 cheaper However, backlash ... the actuators require The advantage of planning in Cartesian space is that path planning is on parameters with resultant of motions of many actuators, instead of going down to plan the paths of...

Design and control of a soccer playing humanoid robot

... 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 and famous Italian artist and engineer ... introduction of several impressive commercial robots such as ASIMO, Qrio, HOAP, HRP, and H7 However, it is still far away from the final goal that aims at making humanoid robot a companion of human in factory,...

Design and control of a teleoperation system for humanoid walking

... 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 Walking Control Achieve stable walking ... fire disaster area, or radiation in the nuclear plant, etc Taking advantage of the advancement in bipedal walking control, several humanoid robots, namely the Honda Asimo (Hirai, 1998) and Sony...

Dynamics and control of distributed parameter systems with recycles

... 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 distributed parameter systems concept with the recycle systems ... DYNAMICS OF DISTRIBUTED PARAMETER SYSTEMS WITH & WITHOUT RECYCLE 3.1 Introduction The tubular reactor is a good example of a distributed parameter system The control of tubular reactors, with or without...

Modeling and control of flexible link robots

... 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 robots, the flexible links will undergo ... The FEM modeling of flexible link robots (and associated controller design) can be found in [11–16] In this method, the flexible link is divided into a finite number of elements The link s elastic...

Slip modelling, estimation and control of omnidirectional wheeled mobile robots with powered caster wheels

... 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 implemented for this mobile manipulator with the proposed slip constraint ... force and its relation with slip of wheeled mobile robots is analyzed General slip control structure for wheeled mobile robots is derived based on the internal force analysis Simulation and experimental...

Design and development of an autonomous omni directional mobile robot

... 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 example, for handling ... official minimum distance of 4cm but can range down to 2cm This allows the sensors to be placed near the edge of the robot It has an official maximum range of 30cm but it can range up to 80cm though...

Design and development of command and control system for autonomous underwater vehicles

... 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 scenarios Chapter Command and Control System ... matured and commercial systems have appeared in the market, a generic yet robust AUV command and control system still remains a key research focus This thesis presents a novel command and control system...

Xem thêm

Từ khóa: modeling and hierarchical tracking control of triwheeled mobile robots design and control of an emg driven ipmc based artificial muscle finger modeling and analysis of skidding and slipping in wheeled mobile robots control design perspective kinematic modeling mobility analysis and design of wheeled mobile robots design and implementation of a computer based inventory control system for a pharmaceutical store dynamic modelling and control of a wheeled mobile robot kinematic and dynamic models of wheeled mobile robots number and percentage of title iv institutions with imputed 1 year retention rates for first time degree certificate seeking undergraduate students by control degree granting status and attendance status united states fall 2010 integration of design and control role of adenosine in the control of inflammatory events associated with acute and chronic neurodegenerative disorders design and control methodology of series parallel torque and speed coupling hybrid drive train design and control principles of plug in hybrid electric vehicles design and development of recombinant vaccines with viral properties adherence metabolic control and quality of life in adolescents with type 1 diabetes modeling compensation and control of smart devices with hysteresis chuyên đề điện xoay chiều theo dạng Một số giải pháp nâng cao chất lượng streaming thích ứng video trên nền giao thức HTTP Nghiên cứu tổ chức chạy tàu hàng cố định theo thời gian trên đường sắt việt nam Giáo án Sinh học 11 bài 13: Thực hành phát hiện diệp lục và carôtenôit Giáo án Sinh học 11 bài 13: Thực hành phát hiện diệp lục và carôtenôit Giáo án Sinh học 11 bài 13: Thực hành phát hiện diệp lục và carôtenôit Giáo án Sinh học 11 bài 13: Thực hành phát hiện diệp lục và carôtenôit Giáo án Sinh học 11 bài 13: Thực hành phát hiện diệp lục và carôtenôit ĐỒ ÁN NGHIÊN CỨU CÔNG NGHỆ KẾT NỐI VÔ TUYẾN CỰ LY XA, CÔNG SUẤT THẤP LPWAN Phát triển du lịch bền vững trên cơ sở bảo vệ môi trường tự nhiên vịnh hạ long Định tội danh từ thực tiễn huyện Cần Giuộc, tỉnh Long An (Luận văn thạc sĩ)Thơ nôm tứ tuyệt trào phúng hồ xuân hương Thiết kế và chế tạo mô hình biến tần (inverter) cho máy điều hòa không khí Tranh tụng tại phiên tòa hình sự sơ thẩm theo pháp luật tố tụng hình sự Việt Nam từ thực tiễn xét xử của các Tòa án quân sự Quân khu (Luận văn thạc sĩ)Giáo án Sinh học 11 bài 15: Tiêu hóa ở động vật chuong 1 tong quan quan tri rui ro Giáo án Sinh học 11 bài 14: Thực hành phát hiện hô hấp ở thực vật Giáo án Sinh học 11 bài 14: Thực hành phát hiện hô hấp ở thực vật Trách nhiệm của người sử dụng lao động đối với lao động nữ theo pháp luật lao động Việt Nam từ thực tiễn các khu công nghiệp tại thành phố Hồ Chí Minh (Luận văn thạc sĩ)TÁI CHẾ NHỰA VÀ QUẢN LÝ CHẤT THẢI Ở HOA KỲ