DocumentCode
154401
Title
Modeling and control-related analysis of the ground pressure exerted by wheels in a tri-wheel mobile robot
Author
Beniak, Ryszard ; Pyka, Tomasz
Author_Institution
Fac. of Electr. Eng., Autom. Control & Inf., Opole Univ. of Technol., Opole, Poland
fYear
2014
fDate
2-5 Sept. 2014
Firstpage
596
Lastpage
599
Abstract
The paper presents a method for modeling of the ground pressure exerted by the wheels of a tri-wheel mobile robot followed by a control algorithm that includes changes in the pressure. The simulation output is compared with the measured values of the ground pressure, demonstrating a very good modelling accuracy. Based on the modelled ground pressure characteristics, we successfully modify the equations of the well-known PWM regulator.
Keywords
control system analysis; mobile robots; pressure control; pulse width modulation; wheels; PWM regulator; control algorithm; control-related analysis; ground pressure; pulse width modulation; tri-wheel mobile robot; Equations; Mathematical model; Mobile robots; Robot kinematics; Trajectory; Wheels; castor wheel; ground pressure; mobile robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
Conference_Location
Miedzyzdroje
Print_ISBN
978-1-4799-5082-9
Type
conf
DOI
10.1109/MMAR.2014.6957421
Filename
6957421
Link To Document