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Control systems for mobile robot

100%

Krysiak B. , Kozłowski K.

2006

tom No. 5

39-58

This article is a summary of master's degree work "Steering systems for mobile robot" [2]. The target of this work was designing and building integrated circuit of power ending, which is destined to steer engine of a new mobile robot that is designed by Chair of Control and Systems Engineering. Another part of this work is the analysis of Morin's and Samson's [3] steering law, which will be used to steer mobile robot in the future. The first part of this article presents the structure of mobile robot with individual subsystems. In the second part the analysis of Morin's and Samson's steering law is presented.

Design and Motion Synthesis of Modular Walking Robot Mero

100%

Ion I. E. , Marin A. , Curaj A. , Vladareanu L.

2008

tom Vol. 2, No. 4

25-30

The walking robots are built to displace the loads on the not-aligned terrain. The mechatronic walking system protects much better the environment when its contact with the soil is discrete, a fact that limits the area that is crushed appreciatively. At the Polytechnic University of Bucharest a walking modular robot to handle farming tools has been developed. This walking robot has three twolegged modules. Every leg has three freedom degrees and a tactile sensor to measure the contact, which consists of the lower and upper levels. The body of the MERO (MEchanism RObot) walking robot carries a gyroscopic bearing sensor to measure the pitch and roll angles of the platform. The legs are powered by hydraulic drives and are equipped with potentiometric sensors. They are used to control the walking robot in the adaptability to a natural ground. A vehicle like that is Romanian Walking Robot MERO (Fig.1).

An adaptive output feedback motion tracking controller for robot manipulators: uniform global asymptotic stability and experimentation

88%

Yarza A. , Santibanez V. , Moreno-Valenzuela J.

International Journal of Applied Mathematics and Computer Science

2013

tom 23

nr 3

599-611

This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Global Asymptotic Stability (UGAS) can be obtained from an adaptive output feedback tracking controller, if the reference trajectory is selected in such a way that the regression matrix is persistently exciting. The new scheme has been experimentally implemented with the aim of confirming the theoretical results.

Odporne sterowanie ruchem mobilnego robota kołowego

63%

Hendzel Z. , Jagiełowicz C.

2002

tom z. 60 [197]

249-256

This paper presents synthesis of robust controller of wheeled mobile robot Pioneer -2DX. Motion of this system is descriebed using Maggi's equations. Synthesis of control system was based on the Lapunov stability theory. Simulation testing was made using Matlab/Simulink.