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Influence of PWM to trajectory accuracy in mobile robot motion

Beniak R., Pyka T.

Journal of Automation Mobile Robotics and Intelligent Systems

2012

Vol. 6, No. 4

50-56

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.