Trajectory Tracking Control of an Omnidirectional Mobile Robot
碩士 === 國立成功大學 === 工程科學系碩博士班 === 95 === The omnidirectional mobile robot is a special type of wheeled robot. It has an advantage of moving arbitrarily on a flat surface without changing its pose. In this study, the dynamic model of the omnidirectional mobile robot is derived. In controller design, t...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2007
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| Online Access: | http://ndltd.ncl.edu.tw/handle/54661234830421813141 |
| Summary: | 碩士 === 國立成功大學 === 工程科學系碩博士班 === 95 === The omnidirectional mobile robot is a special type of wheeled robot. It has an advantage of moving arbitrarily on a flat surface without changing its pose. In this study, the dynamic model of the omnidirectional mobile robot is derived. In controller design, the computed torque control law is designed to cancel the nonlinear terms of the system. Then the PID controller is used for trajectory tracking control. The implementation of the controller is based on a digital signal processor (TMS320F2812) produced by Texas Instruments. The FPGA device produced by Altera is used to implement the QEP (quadurature encoder pulse) circuits. The QEP circuits are use to be an interface for receiving the signals from the encoders set on the motors. In the experiment, the control law is implemented on a digital signal processor using C language. The DC motors are driven by the PWM driver board. The simulation and experimental results are provided to show the effectiveness of the control system.
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