| Autor: |
Zobov, O. V., Vlasov, A. I., Juravleva, L. V. |
| Předmět: |
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| Zdroj: |
AIP Conference Proceedings; 2021, Vol. 2402 Issue 1, p1-12, 12p |
| Abstrakt: |
The paper deals with the functional nodes' design Industrial IoT. The main attention is paid to the embedded data collection devices development features, which are used to receive, process and transmit data from various sensors. On a mobile service robot example, the motion sensors processing data features (incremental encoders) mounted on independent wheels are considered. According to the sensor readings, the independent wheels angular velocities are calculated, and the calculations' results are transmitted to the mobile service robot control system on-board computer. General control is provided by the Robot Operating System (ROS). The design implements speed measurement three methods, based on the real-time operating system FreeRTOS. Recommendations are given for a control program development for receiving data on the robot control system side for the ROS software platform in the Debian OC environment. The three methods experimental studies results for measuring the angular velocity are analysed and experiment statistical processing is performed to select the method with the lowest error for measuring the optical encoder shaft rotation speed. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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