Electronic gearing of two DC motor shafts for Wheg type mobile robot (original) (raw)
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Identification and development of a real-time motion control for a mobile robot's DC gear motor
International Journal of Computer Applications in Technology, 2017
This paper proposes a real-time motion control of a wheeled mobile robot. An effective Proportional-Integral-Derivative (PID) controller has been synthesised for the robot's speed. In the process, owing to the shortage in the chosen gear motor characteristics, we need to model the robot's gear motor. Most of identification and computation techniques presented in this research use intelligent tools in order to obtain best desired performances of the closed loop system. The proposed technique consists of comparing between presented methods in order to get the best system's response. We apply sets of techniques and experiments to test the speed response of the gear motor using a Digital Signal Processor (DSP) of Texas Instruments integrated in a digital development tool.
Analysis on Modeling and Simulink of DC Motor and its Driving System Used for Wheeled Mobile Robot
Wheeled Mobile Robots (WMRs) are built with their Wheels' drive machine, Motors. Depend on their desire design of WMR, Technicians made used of DC Motors for motion control. In this paper, the author would like to analyze how to choose DC motor to be balance with their applications of especially for WMR. Specification of DC Motor that can be used with desire WMR is to be determined by using MATLAB Simulink model. Therefore, this paper is mainly focus on software application of MATLAB and Control Technology. As the driving system of DC motor, a Peripheral Interface Controller (PIC) based control system is designed including the assembly software technology and H-bridge control circuit. This Driving system is used to drive two DC gear motors which are used to control the motion of WMR. In this analyzing process, the author mainly focus the drive system on driving two DC gear motors that will control with Differential Drive technique to the Wheeled Mobile Robot . For the design analysis of Motor Driving System, PIC16F84A is used and five inputs of sensors detected data are tested with five ON/OFF switches. The outputs of PIC are the commands to drive two DC gear motors, inputs of Hbridge circuit .In this paper, Control techniques of PIC microcontroller and H-bridge circuit, Mechanism assignments of WMR are combined and analyzed by mainly focusing with the "Modeling and Simulink of DC Motor using MATLAB".
Adjustment of robot joint gears using encoder velocity and position information
Journal of Robotic Systems, 1985
A new technique for the adjustment of joint gears in industrial robots is presented. Band-limited random excitation signals were injected into the drive system of the joint under test, and both the actuator shaft velocity and position were monitored. The coherence functions between the voltage at the terminals of the electric actuator and the position and velocity signals were determined. The change in the coherence functions was studied for various joint gear settings. An algorithm is proposed for determining the gear setting which results in the most linear operation of the joint drive system. This algorithm was tested on the adjustment of the gears of the wrist rotation joint of a PUMA 560 robot arm.
Mechatronics Design of a Mobile Robot System .
Mobile robot motion control is simplified to a DC motor motion control that may include gear system. The simplest and widespread approach to control the mobile robot motion is the differential drive style, it consists of two in-lines with each a DC motor. Both DC motors are independently powered so the desired movements will rely on how these two DC motors are commanded. Thedevelop design, model and control of Mechatronics mobile robotic system is presented in this paper. The developed robotic system is intended for research purposes as well as for educational process. The model of proposed mobile robot was created and verified using MATLAB-Simulink software.
A differential drive mobile robot is constructed using ARM7 based LPC2129 microcontroller. The robot has two fixed wheels at rear side and a castor wheel in the front. The two rear wheels are driven by a pair of identical DC motors. The revolutions the wheels make in one second intervals are determined by counting the number of pulses generated by a wheel encoder assembly attached to each wheel. The count values are transferred to a remote PC using a pair of ZigBee transceivers which serve as end device and coordinator of a wireless sensor network (WSN). The position and the orientation of mobile robot are estimated by odometry using the count values. An embedded program to drive the robot on a desired path and a LabVIEW application program to compute and display the position and orientation of robot at instants of one second interval have been developed. The design of mobile robot and the development of the programs are described. Results of remote tracking of robot are presented.
Control of Position/Velocity in a Mobile Robot Using DC Brushless Motors
Electronics, Robotics and Automotive Mechanics Conference (CERMA'06), 2006
This paper describes the construction of a differential mobile robot using a brushless DC motor coupled to each wheel. Considering that commercial controllers of brushless motors are expensive and they control only velocity, not position; we design and built 3-Phase Bridges, with N-Mosfets, within a electronic circuitry to drive brushless motors. A PWM control scheme and the outputs of the optical encoder and Hall sensor of the motor are used to implement a closed-loop velocity and position control. The real time control of the two traction wheels runs on a 68HCS12 microcontroller and the mobile robot accepts commands using an standard RS232 serial connection. The hardware design and software of this robot is available online.
Motor Speed Controller for Differential Wheeled Mobile Robot
2015
The movement of a wheeled mobile robot (WMR) is provided by motors, however, it is hard to control and predict the motors speed. A cascade Proportional, Integration, and Derivation (PID) controller is presented in this study to achieve the purpose of motors speed controlling. In order to test the controller, a differential drive wheeled mobile robot (DWMR) platform is used. The platform is integrated with decision making algorithm (DMA) for the case of wallfollowing to test the capability of the controllers in different situations. Through the results illustrated, it shows that the cascade PID controller promises a good performance with low average error in controlling the motors to reach the desired speed.
Kinematics, Localization and Control of Differential Drive Mobile Robot
Global Journal of Research In Engineering, 2014
The present work focuses on Kinematics, Localization and closed loop motion control of a differential drive mobile robot which is capable of navigating to a desired goal location in an obstacle free static indoor environment. Two trajectory planning approaches are made (i) the robot is rotated to eliminate orientation error and then translate to overcome distance error (ii) Both rotational and translational motion is given to the robot to overcome orientation and distance error simultaneously. Localization is estimated by integrating the robot movement in a fixed sampling frequency. The control law is based on kinematics model which provides updated reference speed to the high frequency PID control of DC motor. Stability of proposed control law is validated by Lyapunov Criterion. Both experimental and simulation results confirm the effectiveness of the achieved control algorithms and their efficient implementation on a two wheeled differential drive mobile robot using an 8-bit micro...
OSEK/VDX Porting to the Two-Wheel Mobile Robot Based on the Differential Drive Method
In this paper, we propose an implementation of a real-time operating system for the two-wheel mobile robot. With this implementation, we have the ability to control the complex embedded systems of the two-wheel mobile robot. The advantage of the real-time operating system is increasing the reliability and stability of the two-wheel mobile robot when they work in critical environments such as military and industrial applications. The real-time operating system which was ported to this implementation is open systems and the corresponding interfaces for automotive electronics (OSEK/VDX). It is known as the set of specifications on automotive operating systems, published by a consortium founded by the automotive industry. The mechanical design and kinematics of the two-wheel mobile robot are described in this paper. The contributions of this paper suggest a method for adapting and porting OSEK/VDX real-time operating system to the two-wheel mobile robot with the differential drive method, and we are also able to apply the real-time operating system to any complex embedded system easily.