Title :
Modeling and control-related analysis of the ground pressure exerted by wheels in a tri-wheel mobile robot
Author :
Beniak, Ryszard ; Pyka, Tomasz
Author_Institution :
Fac. of Electr. Eng., Autom. Control & Inf., Opole Univ. of Technol., Opole, Poland
Abstract :
The paper presents a method for modeling of the ground pressure exerted by the wheels of a tri-wheel mobile robot followed by a control algorithm that includes changes in the pressure. The simulation output is compared with the measured values of the ground pressure, demonstrating a very good modelling accuracy. Based on the modelled ground pressure characteristics, we successfully modify the equations of the well-known PWM regulator.
Keywords :
control system analysis; mobile robots; pressure control; pulse width modulation; wheels; PWM regulator; control algorithm; control-related analysis; ground pressure; pulse width modulation; tri-wheel mobile robot; Equations; Mathematical model; Mobile robots; Robot kinematics; Trajectory; Wheels; castor wheel; ground pressure; mobile robot;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4799-5082-9
DOI :
10.1109/MMAR.2014.6957421
