Title :
Development of the autonomic mobile platform for RoboCup robot
Author :
Yuan, Kui ; Liu, Xianhua ; Luo, Bencheng ; Zhu, Haihing
Author_Institution :
Inst. of Autom., Acad. Sinica, Beijing, China
Abstract :
A new platform of the autonomic mobile robot designed for the middle size RoboCup robot is introduced in this paper. Great innovations are made not only on the platform servo system but also on the driving controller design. Simple encoders and flat motors driven directly by the controller are used. High performance control of multiple motors is implemented by a DSP special for digital control. The platform has a reliable concise structure and characteristics of high performance-price ratio and, at the same time, is open and universal.
Keywords :
digital control; mobile robots; servomechanisms; RoboCup robot; autonomic mobile robot; digital control; driving controller design; encoders; platform servo system; Automatic control; Control systems; Design automation; Digital control; Digital signal processing; Mobile robots; Robotics and automation; Servomechanisms; Servomotors; Technological innovation;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1022161
