modeling and control of wheeled mobile robots

... in charge of the execution of the high-level velocity commands. For each wheel, an 8-bit ST6265 microcontroller imple- [...]... velocity ω (rad/s) Control of Wheeled Mobile Robots: An ... given in terms of a comparison between the number of controlled variables (outputs) and the number of control inputs. For the unicycle-like vehicle of Sect. 3., two input commands are available ... same dimension as the input and the control problem is square. 3. Modeling and control properties Let q ∈Qbe the n-vector of generalized coordinates for a wheeled mobile robot. Pfaffian nonholonomic

Ngày tải lên: 26/10/2014, 14:32

... Chapter Background and Literature Review 1.1 Mobile Wheeled Robot: A Historical Perspective Most mobile machines and, particularly mobile robots, roll on wheels [1]. Although legged and treaded locomotion ... contact point and va (t) is the velocity of contact point The line following controller was divided into two part for ease of control: (1) velocity control law and (2) torque control law, ... various casters); synchronous drive and steering robots; and omni-directional robots. Rajagopalan [6] analyzed the kinematics of WMR with various combinations ofdriving and steering wheels. It was shown

Ngày tải lên: 14/09/2015, 08:37

... inner mechanism Mass of the flywheel Total mass of the Gyrobot Radius of the Gyrobot wheel Radius of the flywheel Moment of inertia of the wheel about axes Moment of inertia of the flywheel about ... and the inner gimbals, in a way so that the center of flywheel remains below the center of the wheel. As a result of this design, there is no horizontal offset between the center of Gyrobot and ... lean angle β of the Gyrobot can not be controlled directly. Instead, we control the tilt angle βa of the flywheel. Details of the dynamic controller is illustrated in section 5.2.3 and 5.2.4. The

Ngày tải lên: 14/09/2015, 08:37

... Founded 1905 MODELING AND CONTROL OF FLEXIBLE LINK ROBOTS BY TIAN ZHILING (B Eng., Zhejiang Univ.) A THESIS SUBMITTED FOR THE DEGREE OF MASTER OF ENGINEERING DEPARTMENT OF ELECTRICAL & COMPUTER ... 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 ... Chalhoub and A Ulsoy, ? ?Control of a flexible robot arm: Experimental and theoretical results,” J Dynamic Systems, Measurement and Control, vol 109, pp 299–309, 1987 [59] P Kokotovic, H Khalil, and

Ngày tải lên: 26/11/2015, 12:31

... Founded 1905 MODELING AND CONTROL OF HARD DISK DRIVE IN MOBILE APPLICATIONS PHYO PHYO SAN (B.Eng. & M.Sc.) A THESIS SUBMITTED FOR THE DEGREE OF MASTER OF ENGINEERING DEPARTMENT OF ELECTRICAL ... works on adaptive control of servo mechanisms and intelligent control of HDDs. 104 Bibliography Bibliography [1] A. A. Mamun, G. Guo, and C. Bi, Hard disk drive mechatronics and control. New ... possible while reading and writing information. The control objective of HDD 10 1.3 HDD Servo System and Servo Control Challenges Figure 1.4: Track seeking and following of an HDD servo system

Ngày tải lên: 16/10/2015, 15:38

... tracking and obstacle avoidance control for mobile robots with unknown sliding Int J Adv Robot Syst 2012; 9(171): 1–14 30 Wang D and Low CB Modeling and analysis of skidding and slipping in wheeled mobile ... Adaptive tracking control of wheeled mobile robots with unknown longitudinal and lateral slipping parameters Nonlinear Dynam 2014; 78(3): 1811–1826 27 Tian Y and Sarkar N Control of a mobile robot ... tracking and stabilization of nonholonomic mobile robots using several nonlinear control techniques such as sliding mode control, 1–6 adaptive control, 7–11 backstepping control1 2–14 and intelligent control

Ngày tải lên: 08/11/2022, 15:01

... Algebra Formulation of Kinematics of Wheeled Mobile Robots Alonzo Kelly CMU-RI-TR-10-33 - REV 1.0 [...]... are necessary, creating an overdetermined configuration Often, the available control inputs ... of interest Nonetheless, the velocity kinematics of wheeled mobile robots is a much more straightforward topic than the kinematics of manipulators 2.1 Instantaneous Center of ... 2 Kinematic Steering Models For wheeled vehicles, the transformation from the steer angles and rotation rates of the wheels onto path curvatures and linear and angular velocities can be very

Ngày tải lên: 26/10/2014, 14:31

... Experimentation, Modeling and Control of Calcium Dynamics in Human Vascular Endothelial Cells CAO Lingling Department of Electrical and Computer Engineering National University of Singapore A ... a batch of living cells as the objective and we wish to regulate/affect /control their behavior with limited understanding and knowledge of the cells. It is somewhat like nursing a kid and instructing ... feeding the system a pre-designed control command, we can generate letters “N”, “U” and “S” (representing National University of Singapore) in this profile. The feedback control is also implemented.

Ngày tải lên: 09/09/2015, 18:48

... MODELING AND CONTROL OF A HEAT GUN HUANG YING A THESIS SUBMITTED FOR THE DEGREE OF MASTER OF ENGINEERING DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING NATIONAL UNIVERSITY OF SINGAPORE ... Responses of the motor and heater parts by using Km and Kh2 92 7.3 Responses of the motor and heater parts to Tload 93 7.4 Responses of the motor and heater parts to the changes of set ... Responses of the motor and heater parts by using the LQG controllers From Figure 7.14, it is observed that the responses of υa and T meet the control objectives in Section 7.1 For the observer of the

Ngày tải lên: 26/11/2015, 12:31

... Alter, D M and T Tsu-Chin (1996) "Control of linear motors for machine tool feed drives: design and implementation of H infinity optimal feedback control. " Transactions of the ASME Journal of Dynamic ... Liang, S Y., R L Hecker and R G Landers (2004) "Machining process monitoring and control: The state -of- the-art." Journal of Manufacturing Science and Engineering, Transactions of the ASME 126(2): ... tool feed drives and their control- a survey of the state of the art." Transactions of the ASME Journal of Manufacturing Science and Engineering 119(4B): 743-8 Tan, K K., S N Huang and T H Lee (2002)

Ngày tải lên: 20/04/2017, 22:23

... events acted out with objects, and can thus generate descriptions of these actions The second platform involves Robot Command and Control in the international context of robot soccer playing, in ... League field has dimensions of x meters It has four landmarks and two goals Each landmark has a different color combination that makes it unique The position of the landmarks in the field is shown ... including the design of a system architecture controlling perception and motion Game Controller Other? ?Robots Wireless Communication Dialog Management STT information about the state of the game (goal,

Ngày tải lên: 19/10/2022, 02:51

... HÀ NỘI VIỆN CƠ KHÍ MÔN HỌC: HỆ THỐNG CƠ ĐIỆN TỬ THÔNG MINH ĐỀ TÀI: Modeling and Control of AGV Giáo viên hướng dẫn: TS Hoàng Hồng Hải Học viên thưc hiện: Nguyễn Văn Kiên MSHV: ... board RF control nhận tín hiệu truyền đến cho xe AGV chạy đến nơi có xe đầy hàng Khi AGV hồn tất quy trình chạy xuất tín hiệu báo cho hệ thống RF control biết nhận lệnh từ RF control Board RF control ... Board mạch xử lý RFID thiết kế -443.3.3 Board RF control nhận xử lý tín hiệu quy định đƣờng gọi xe AGV Hình 3.13 Board RF control thiết kế Board RF control hệ thống thơng minh xử lý tín hiệu gọi

Ngày tải lên: 15/05/2023, 10:04

... Estimation and Control of Omnidirectional Wheeled Mobile Robots with Powered Caster Wheels Li Yuan Ping (B.Eng.(Hons.), XJTU, Xi’An) A THESIS SUBMITTED FOR THE DEGREE OF DOCTOR OF PHILOSOPHY ... tracking controller designed for the tested wheeled mobile robot with Simulink. 142 [...]... consists of a Mitsubishi PA10 7DOF manipulator and an omnidirectional wheeled mobile robot ... slip dynamic effects and modeling problem for wheeled mobile robots • Slip is often considered in the mobile robot localization literatures However, the concern of those literatures

Ngày tải lên: 14/09/2015, 08:43

... on Modeling and Control of Technological Systems, 1991 J L Peterson, Petri Net Theory and the Modeling of Systems, Englewood Cliffs, NJ: Prentice-Hall, 1981 A H Levis, “Quantitative models of ... Trang 10 where e and s are n x 1 and F, G, H, and C are of dimension n x n From the definition of the arrays (see Fig 4.1) it is apparent that the diagonal elements of F, G, H, and C are identically ... Encyclopedia of Information Processing in Systems and Organizations, A P Sage, Ed., Oxford: Pergamon Books Ltd., 1988 J.-M Monguillet and A H Levis, ? ?Modeling and evaluation of variable structure command

Ngày tải lên: 07/11/2013, 09:15

... "Supervisory Control of a Class of Discrete Event Processes", SIAM J Control and Optimization, Vol 25, No 1, pp 206-230, Jan 1987 [16] Peterson J.L., Petri Net Theory and the Modeling of Systems, ... ARTIFICIAL INTELLIGENCE PLANNING AND CONTROL THEORY: ANALOGY AND RELATIONSHIPS Relationships and an extensive analogy between AI planning and control system architectures and concepts are developed ... form of controllability which we discuss next To discuss a more realistic, weaker form of controllability we assume that the state space can be partitioned into disjoint sets of controllable and

Ngày tải lên: 14/12/2013, 12:15

... Modelling and Control of Snake Robots Engineering Mathematics and Electrical NTNU Norwegian University of Science and Technology Thesis for the degree of philosophiae doctor Faculty of Information ... modelling and control of snake robots as steps toward developing snake robots capable of such operations. A survey of the various mathematical models and motion patterns for snake robots found ... attempted to be recreated in robots that look and move like snakes – snake robots These robots most often have a high number of degrees of freedom (DOF) and they are able to move

Ngày tải lên: 04/08/2014, 09:37

... (1993, May). Structural properties and clas- sification of kinematic and dynamic models of wheeled mobile robots. In Proc. IEEE In- ternational Conference on Robotics and Au- tomation, Atlanta, GA, ... creation of the XR4000 mobile robot. The financial support of Boeing, and Honda is grate- fully acknowledged. Thanks also to K.C. Chang for development of the mobile manipulation con- troller software ... limitations of the holonomic base, and highlighted the need to ad- vance its capabilities. The work presented in this paper is part of the commercial effor ts of Nomadic Technologies in mobile robots and

Ngày tải lên: 26/10/2014, 14:32

... classification of nonholonomic systems. Several kinematic models of nonholonomic systems are presented, including examples of wheeled mobile robots, free-floating space structures and redundant ... disk and the vertical axis. 7.1. INTRODUCTION 279 Chapter 7 MODELING AND CONTROL OF NONHOLONOMIC MECHANICAL SYSTEMS Alessandro De Luca and Giuseppe Oriolo Dipartimento di Informatica e Sistemistica Universit`a ... mechanism can be completely controlled with a reduced number of actuators. On the other hand, both planning and control are much more difficult than in conventional holonomic sys- tems, and require special...

Ngày tải lên: 01/04/2014, 00:20

... range of operation -15 -10 -5 0 5 -15 -10 -5 0 5 p cr start of injection [deg CA] start of injection [deg CA] Fig. 1.11. Influence of start of injection on bsfc and on the emission of PM and NO x , ... paper 987654321 springer.com Introduction to Modeling and Control of Internal Combustion Engine Systems 1.3 Overview of SI Engine Control Problems 9 Fig. 1.6. Conversion efficiency of a TWC (after light-off, stationary ... the design of classical and novel IC engine control systems. Its focus lies on the control- oriented mathematical description of the physical processes involved and on the model-based control system...

Ngày tải lên: 04/07/2014, 00:20

... Inputs, states, and outputs of a receiver. The inputs and outputs are the mass and energy flows, 8 the reservoirs store mass and therma l energy, 9 and the level variables are the pressure and temper ... (Π tr − 1) 2 (2.18) is used (Ψ tr is the value of Ψ(.) and Ψ ′ tr the value of the derivative of Ψ(.) at the threshold Π tr ). The special form of (2.17) and (2.18) guarantees a symmetric behavior ... oriented aspects of fuel properties, combustion, and thermodynamic cycle calculation 2.2 Cause and Effect Diagrams 29 Fig. 2.6. Cause and effect diagram of a Diesel engine (EGR and intercooler...

Ngày tải lên: 04/07/2014, 00:20