The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Due to low-cost and simplicity, differential drive mobile robot are very popular in academic and hobby environments. However, in some applications, such as robot soccer, these robots need to move quickly and aggressively, thus requiring the use of techniques from control systems theory, where an accurate mathematical model is paramount. On the other hand, given budget limitations, the components used...
The purpose of this study is to utilize the capabilities of a fuzzy PID controller for electric drives for a differential drive autonomous mobile robot trajectory application. The robot is powered by two non-identical electric motors. A self-tuning-parameter fuzzy PID controller is designed to control the rotation speed of the motors independently in order to achieve a straight trajectory of the motion...
This paper deals with the modeling and the control of a four wheels mobile robot driven by four independent brushless DC motors. The modeling approach considers the mechanical and the electrical characteristics of the four brushless DC motors and the dynamical model of the studied mobile robot. A control strategy based on IP control and Sliding Mode Control (SMC) is presented. It aims to allow the...
Unmanned Ground Vehicle (UGV) design problem includes several parameters that should be addressed in order to build a system able to negotiate rough terrains. The selection of the appropriate wheels for the vehicle and its related parameters is a very crucial step in the UGV design process. The wheel is the prime responsible for supporting the robot's overall weight, as well as negotiating the terrain,...
In this paper, we develop the control system of a stair-climbing inverted pendulum robot using a planetary wheel mechanism. The purpose of the control system is to ensure that the robot adjusts its orientation towards a given step before climbing the step and keep its main body stable before and after performing the climbing maneuver. The proposed system operates as follows. We utilize a state feedback...
To grasp the driving characteristics of wheel-tracked exploration robot, and to complete its structural design and control system design, the steering characteristics of the robot have been studied. Firstly, the steering characteristics on horizontal surface have been analyzed, then the main structural parameters of the robot has been determined, and meanwhile the influence law of turning radius to...
An active disturbance rejection control (ADRC) technique based on adaptive differential evolution (ADE) algorithm and an improved PID control strategy were proposed so as to solve the problem of self-balancing control and steering control for two-wheeled self-balancing robot. By using Lagrange formula, the nonholonomic dynamic mathematical model was derived based on the nonholonomic dynamic Routh...
The effect of wheel slip in differential drive robots is investigated in this paper. We consider differential drive robots with two driven wheels and ball-type caster wheels that are used to provide balance and support to the mobile robot. The limiting values of traction forces for slip and no slip conditions are dependent on wheel-ground kinetic and static friction coefficients. The traction forces...
In this paper, we focus on the two-wheeled self-balancing robot dynamic model and controller design. Establishing the dynamic model, through Lagrange equation of the generalized coordinates of the robot system. According to the partial feedback linearization principle, making the two free degree of the left and right wheel be linear. The pitch angle between the vertical shaft and the centroid direction...
Autonomous ground vehicles operating in the field are likely to be faced with several mobility challenges such as piles of rubble, water crossings, steep hills, mud, and stiff vegetation patches. These scenarios are particularly critical for smaller robots with torque and power limited actuators, which as experimentally shown in this work can easily fail to accomplish their tasks in these environments...
A versatile unmanned ground vehicle (UGV) should be able to traverse rough terrain while retaining a small form factor for navigating confined spaces. Such a (patent pending) vehicle, dubbed Switchblade, is developed in the present work via an effective combination of a novel transforming mechanical design, capable onboard electronics, and advanced feedback control algorithms. A single chassis holds...
The geometry, kinematics, and mechanical development of a symmetric and adjustable arm suspension mechanism for an actively stabilized single-legged hopping robot are presented. This mechanism is a key enabling design feature of a recently developed two-armed reaction wheel stabilized monopod, that is capable of conventional wheeled roving, continuous hopping, and self-uprighting. The mechanism is...
This research aims to study the grasping torque profile of the helical climbing robot on the cylindrical pole with constant radius. The modular snake robot is formed into a helical shape which can be described by various parameters such as the helical pitch angle, the radius and the pitch distance. The torque in each axis of rotation is affected by the helical pitch angle parameter. Five grasping...
A novel motion control algorithm was introduced to achieve dance between a man and a passive type robot (PDR), which can not move by itself, but can guarantee higher level of safety in the process of human-robot cooperation. Firstly, the characteristics of servo brake were analyzed, and the motion was divided into 8 states according to the kinematic model and control constraint condition. Then feasible...
In this paper, the control algorithm of a female type dance partner robot called PDR was introduced to achieve dance between the robot and a male dancer with physical interaction. PDR is a passive type mobile robot and developed based on the concept of passive robotics. Firstly, the characteristics of servo brake were analyzed, according to the kinematic model and control constraint condition, the...
This paper proposes a distributed motion control algorithm of multiple passive mobile robots for handling an object in cooperation with a human. The driving force of the passive mobile robot is an actual force applied by the human and the servo brakes attached to the wheels control its motion. Different from the active-type robot with servo motors, the passive robot has the control limitation based...
We are interested in making and control a small sized two-wheels bike robot and we aim to balance the robot and to lead it to desired direction only with automatic steering control. Our research purpose is to make an original small sized bike robot and to move the robot for over 300 meters in indoor corridors under the automatic steering control only. We report the making of the original small bike...
In this paper, a bilateral teleoperation system (BTS) is proposed for planetary rover remote control and operation. This is a continuation of the work presented in on computer-simulated virtual environment, that can be used as a predictive display module in the BTS. In the proposed system, a haptic device is used by the human operators to control planetary rovers as driving a car. Dynamic model of...
An Unmanned bicycle stability adjusting mode by use of parallel mechanism is presented, and dynamics model of the unmanned bicycle with parallel mechanism adjusting stability is upbuilt in this paper. In order to increase stability and mobility, and carrying capability, the unmanned bicycle is controlled by a pedalling torque, a directional torque that generated using the steer adjustment, and by...
An omni-directional moving platform with four wheels is developed and its controller is designed for tracking desired trajectories. The four wheels of the platform are torque controlled by DC servo motors independently. The generalized coordinate of the platform is three, therefore the system has one torque redundancy and one odometry sensor redundancy which can be used for improving the control performance...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.