Study on Steering Actuator Transfer Function of Picking Mobile Robot

This paper presents the development and experimental verification of a picking mobile robot steering system model equipped with smartmotor and sensors. The sensor attached at steering shaft feed back the degree of steering in the form of voltage signal together with input signals to the controller. The differential equation of motion for this system is transformed to Laplace domain transfer functions after applying appropriate simplified conditions. Transfer functions relating the steering system are therefore derived and presented. A method for determining the parameters of transfer function of steering motor is proposed in this paper. Simulation and experimental results, which verify the model, are presented to prove its efficiency and simplicity, it will be more efficient to solve such similar transfer function research in the other paralleled control fields.