Title :
PWM Control for a micro-robot moving on a discrete curvature trajectory set
Author :
Lionis, Grigoris ; Kyriakopoulos, Kostas J.
Author_Institution :
Sch. of Mech. Eng., National Tech. Univ. of Athens
Abstract :
In this paper we study the problem of controlling a micro robot which moves either on a line or on circle of predetermined radius. Locomotion constraints of this type are usual in micro robots, and therefore, it is important to have efficient and easy to implement ways of coping with these constraints. To solve the problem we present a multilevel motion controller that can be easily implemented on a robot with scarce computational resources as it does not rely on complex logical operations. It reduces the kinematics of the micro robot to the kinematics of a unicycle, screening in effect the micro behavior from the high level planner. Simulated results are provided to verify the proposed methodology.
Keywords :
microrobots; mobile robots; motion control; robot kinematics; PWM control; discrete curvature trajectory; locomotion constraints; microrobot; multilevel motion controller; Automatic control; Control systems; Forward contracts; Intelligent robots; Kinematics; Mobile robots; Motion control; Pulse width modulation; Robot sensing systems; Robotics and automation;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363666