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Control system architecture for the investigation of motion control algorithms on an example of the mobile platform Rex

Janiak M., Zieliński C.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2015

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Vol. 63, nr 3

667--678

EN

This paper presets the specification and implementation of the control system of the mobile platform Rex. The presented system structure and the description of its functioning result from the application of a formal method of designing such systems. This formalism is based on the concept of an embodied agent. The behaviours of its subsystems are specified in terms of transition functions that compute, out of the variables contained in the internal memory and the input buffers, the values that are inserted into the output buffers and the internal memory. The transition functions are the parameters of elementary actions, which in turn are used in behaviour patterns which are the building blocks of the subsystems of the designed control system. Rex is a skid steering platform, with four independently actuated wheels. It is represented by a single agent that implements the locomotion functionality. The agent consists of a control subsystem, a virtual effector and a virtual receptor. Each of those subsystems is discussed in details. Both the data structures and the transition functions defining their behaviours are described. The locomotion agent is a part of the control system of the autonomous exploration and rescue robot developed within the RobREx project.

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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

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2012

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Vol. 6, No. 4

50-56

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.

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Mobile platform control with interface - hardware and software issues

Kacprzak R. Z., Bartoszewicz A.

Poznan University of Technology Academic Journals. Electrical Engineering

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2007

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No 56

183-196

EN

In this chapter the idea of mobile robot control with a low-cost haptic interface is proposed and architecture of the designed and built haptic system is presented. Both hardware and software issues are described. Furthermore, the benefits of using the devices with embedded force-feedback loop are discussed.

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Stabilizacja kąta przegłębienia pojazdu podwodnego przenoszącego ładunek

Szymak P.

Pomiary Automatyka Robotyka

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2007

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R. 11, nr 2

PL

W przypadku wykorzystania manipulatora pojazdu podwodnego do przenoszenia różnego rodzaju ładunków może być zaobserwowany efekt niepożądanego przegłębienia robota, co ma niekorzystny wpływ na proces sterowania jego ruchem. Dla potrzeb regulacji kąta przegłębienia pojazdu podwodnego przebadano regulatory konwencjonalne i rozmyte, dostrajane przy użyciu metod klasycznych oraz metod sztucznej inteligencji.

EN

In the case of use an underwater vehicle’s manipulator to transfer different kind of loads, it can be observed an undesirable robot’s trim effect, what has disadvantageous effect on robot’s movement control. For the purpose of control of an underwater vehicle’s trim, it has been examined conventional and fuzzy controllers, which were tuned with assistance of classical and artificial intelligence methods.