Modeling and PID Control of Two-Wheel Mobile Robot with a Manipulator and Its Implementation in SIMULINK

Autor:	Sohom Chakrabarty, Vasudev Gupta, Pushkar Prakash Arya
Rok vydání:	2021
Předmět:	Computer science PID controller Mobile robot Trial and error Motion (physics) law.invention Computer Science::Robotics law Control theory Cartesian coordinate system Feedback linearization Motion planning Manipulator Computer Science::Operating Systems
Zdroj:	Lecture Notes in Mechanical Engineering ISBN: 9789811580246
Popis:	This paper considers modeling and PID control of a two-wheel mobile robot (TWMR) with a manipulator mounted on the mobile platform. The motion of the mobile platform is such that the endpoint of the manipulator always faces the front of the mobile platform. To achieve this, the mobile robot has its own motion planning in a Cartesian coordinate system. The input–output feedback linearization technique is used to get two linear decoupled model of the system. Two PID controllers are obtained for the decoupled system whose parameters are obtained using trial and error. The simulation is carried out in the SIMULINK platform, and simulation studies are carried out for three different reference paths.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::ac145169c6218186aee30ba96262cc6e https://doi.org/10.1007/978-981-15-8025-3_58 Zobrazit plný text záznamu