DocumentCode
675719
Title
Implementation of Velocity Control Algorithm on a Swerve Based Omni-directional Robot
Author
ul Hassan, Zain ; ur Rahman, Waqas ; Farooq, Umar
Author_Institution
Dept. of Electr. Eng., Center for Adv. Studies in Eng., Islamabad, Pakistan
fYear
2013
fDate
16-18 Dec. 2013
Firstpage
195
Lastpage
198
Abstract
This paper includes implementation of velocity control algorithm on an Omni-directional swerve drive robot. The algorithm enables the motors of the robot to maintain their velocities, even at varying voltage levels and at varying load. This allows the robot motion to be smooth and precise. The algorithm is based upon feedback mechanism.
Keywords
mobile robots; motion control; velocity control; feedback mechanism; omnidirectional swerve drive robot; robot motion; swerve based omnidirectional robot; velocity control algorithm; Brushless DC motors; Mobile robots; Permanent magnet motors; Wheels; Integral; Omni-directional-robot; PI controller; Proportional; Robotics; Swerve Drive; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Frontiers of Information Technology (FIT), 2013 11th International Conference on
Conference_Location
Islamabad
Print_ISBN
978-1-4799-2293-2
Type
conf
DOI
10.1109/FIT.2013.43
Filename
6717252
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