- Tytuł:
- Influence of PWM to trajectory accuracy in mobile robot motion
- Autorzy:
-
Beniak, R.
Pyka, T. - Powiązania:
- https://bibliotekanauki.pl/articles/384557.pdf
- Data publikacji:
- 2012
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
mobile robot control
kinematic and dynamic control
castor sliding wheel
pulse width modulation (PWM) - Opis:
- The paper compares simulation results for direct and PWM control of DC motors in a tri-wheel mobile robot with a castor sliding wheel. Our aim was to determine to what extent PWM control changes the trajectory accuracy. For this purpose, we compare kinematic and dynamic control. To make the model more realistic, we considered the impact of viscous and rolling friction of driving wheels on the motion along the trajectory. We conclude that dynamic control is of higher quality as compared to kinematic control, and that there is a significant impact of PWM control on the trajectory accuracy.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2012, 6, 4; 50-56
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł