| Summary: | 碩士 === 國立臺北科技大學 === 機電整合研究所 === 100 === From the conventional handmade manufacturing industry of yesteryear to the present-day automatic manufacturing industry, the progress in engineering technologies has finally led to an industrial era in which mobile robots assist humans in working environments. Mobile robots can assist humans in moving and transferring heavy objects; however, preventing wheel slippage and off-course travel is an import issue in the control of wheeled or tracked mobile robots. Therefore, this study focuses on the development of acceleration analysis and trajectory planning algorithms for motion control of tracked mobile robots. This study first derives the relation between the rotating speed and linear speed of driving wheels and then derives the relation among position, velocity, and acceleration of the developed tracked mobile robot. Subsequently, the kinematic relation between driving wheels (including their rotating speed and linear speed) and the mobile robot (including its motion velocity and heading angle) is obtained by applying kinematic analysis. The constraints for the motions of the mobile robot are then created and the acceleration constraints when the mobile robot moves on linear and circular paths are derived. The Matlab software is applied to carry out simulations of the developed algorithms, and the VisSim real-time control system is used to implement the developed approaches on the mobile robot to evaluate the derived acceleration constraints. The simulation and experimental results show that the mobile robot moves along the preplanned motion paths with the preplanned velocity and acceleration trajectories that consider the acceleration constraints. Thus, the proposed acceleration analysis and trajectory planning algorithms are applicable for the motion control of wheeled and tracked mobile robots.
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