![]() ![]() Eventually, physical prototypes of sample wheeled robots/rovers were developed and tested so as to prove and validate the principle and methodology presented in this paper. Further, mathematical models and a software platform were developed to provide appropriate and intuitive tools for simulating and evaluating performance of the wheeled robots that were proposed in this paper. Secondly at the synthesis level, two kinds of structure synthesis modes, namely the isomorphic-combination mode and the non-isomorphic combination mode were proposed to synthesize mechanical structures of wheeled robots which led to 241 structures for wheeled mobile robots including 236 novel ones. Firstly at the module level, by creative design and analysing the structures of classic wheeled robots, a wheel module set containing four types of wheel mechanisms, a suspension module set consisting of five types of suspension frames and a chassis module set composed of five types of rigid or articulated chassis were designed and generalized. The modular-based innovative synthesis and design of wheeled robots were conducted at two levels. The principle and terminologies used for the proposed synthesis method are presented by adopting the concept of modular design, isomorphic and non-isomorphic, and set theory with its associated combinatorial mathematics. Module-based structure design of wheeled mobile robotĭirectory of Open Access Journals (Sweden)įull Text Available This paper proposes an innovative and systematic approach for synthesizing mechanical structures of wheeled mobile robots. This paper deals with the mathematical kinematics description of such mobile platform, it describes the advant. A three wheel drive with omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. Most teams use two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. Traditional two wheels differential drive normally used on mobile robots have manoeuvrability limitations and take time to sort out. Ribeiro, António Fernando Moutinho, Ivo Silva, Pedro Fraga, Carlos Pereira, Nino Three omni-directional wheels control on a mobile robot The actual path and desired path are compared. The mobile robot is tested in two different trajectories, namely are circular and straight path. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. Control of wheeled mobile robot in restricted environment ![]()
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