Influence of PWM to trajectory accuracy in mobile robot motion

• Autorzy: Beniak R. , Pyka T.
• Języki publikacji: EN

Abstrakty

EN

The paper compares simulation results for direct and PWM control of DC motors in a tri-wheel mobile robot with a castor sliding wheel. Our aim was to determine to what extent PWM control changes the trajectory accuracy. For this purpose, we compare kinematic and dynamic control. To make the model more realistic, we considered the impact of viscous and rolling friction of driving wheels on the motion along the trajectory. We conclude that dynamic control is of higher quality as compared to kinematic control, and that there is a significant impact of PWM control on the trajectory accuracy.

Słowa kluczowe

EN

mobile robot control; kinematic and dynamic control; castor sliding wheel; pulse width modulation (PWM)

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2012
• Tom: Vol. 6, No. 4
• Strony: 50--56
• Opis fizyczny: Bibliogr. 16 poz., rys.

Twórcy

autor

Beniak R.

autor

Pyka T.

• Opole University of Technology, Faculty of Electrical Engineering, Automatic Control and Computer Science, Prószkowska Street No. 76, 45-758 Opole, Poland,

Bibliografia

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