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
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;
Conference_Titel :
Frontiers of Information Technology (FIT), 2013 11th International Conference on
Conference_Location :
Islamabad
Print_ISBN :
978-1-4799-2293-2
DOI :
10.1109/FIT.2013.43
