Title :
Design of a Level Attitude Auto-Adjustment Controller for Joint-Tracked Mobile Robot
Author :
Caihong, Ding ; Shouxin, Xu ; Limin, Mao
Author_Institution :
Eng. Res. Center of Adv. Textile Machinery, Donghua Univ., Shanghai, China
Abstract :
Considering the mechanism characteristics of the joint-tracked mobile robot, a controller based on real-time feedback is put forward to accomplish level attitude auto-adjustment. After analysis on kinematics and dynamics, the controller model is supposed which takes several kinds of sensors as detecting elements, kinematics and dynamics models as reference to build decision strategy. And an open control system based on DSP and industrial computer is adopted for the controller. It is proved to satisfy the demands of level attitude adjustment through climbing and obstacle negotiation experiments.
Keywords :
attitude control; feedback; mobile robots; robot dynamics; robot kinematics; sensors; tracking; DSP; auto-adjustment controller; climbing-obstacle negotiation experiment; decision strategy; industrial computer; joint-tracked mobile robot; level attitude design; open control system; real-time feedback; robot dynamics; robot kinematics; sensors; Attitude control; Computer industry; Control systems; Digital signal processing; Electrical equipment industry; Feedback; Kinematics; Mobile robots; Robot control; Sensor phenomena and characterization; attitude adjustment; feedback control; joint-tracked mobile robot;
Conference_Titel :
Information Technology and Computer Science, 2009. ITCS 2009. International Conference on
Conference_Location :
Kiev
Print_ISBN :
978-0-7695-3688-0
DOI :
10.1109/ITCS.2009.88
