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In this paper is presented an algorithm for trajectory-tracking and obstacle avoidance for wheeled mobile robots (WMR). The proposed algorithm creates a trajectory composed of a global trajectory generated off-line and local obstacle avoidance trajectories that are created when an obstacle is detected by the sonar and laser sensors. Only one discrete-time sliding-mode controller is required to track...
This paper deals control and navigation of the wheelchair for elderly and disabled based on kinematic model iris motion and image processing. Cirrus Power Wheelchair was modelled as an wheeled mobile robot (WMR) with two driving and two free wheels (2DW/2FW). An input/output model of the wheel control system consisting of servo-amplifier, DC motor and gear reducer have been experimentally indentified...
This paper deals several widely used, closed-loop discrete-time, speed estimators, used for the digital control of permanent magnet synchronous motors (PMSM). Aim of the paper was to develop a rotor position/speed sensorless control system with performance comparable to the sensor-based control systems for PMSMs over their entire operating range, including low-speed operation. Simulation analyses...
New idea of this paper is to make a processing line capable of reprocessing pieces that have not passed the quality test at the end of the line. The focus is to provide a model of the processing system and to introduce an autonomous robotic system (ARS) type a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM) in order to transport pieces, for reprocessing. For this purpose, an processing/reprocessing...
Two models of a mechatronic assembly line served by robotic manipulator mounted on mobile platform in order to perform disassembly are proposed in this paper. The first one is a discrete event model, where both the assembly/disassembly mechatronic line and wheeled mobile robot (WMR) equipped robotic manipulator are treated as discrete systems. The second one is a hybrid system in which the mechatronic...
Trajectory-tracking is an important behaviour for mobile robots. This paper addresses the nonlinear sliding-mode trajectory-tracking control problem for a four-wheel-steering vehicle (4WS). The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant....
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