Slip Detection and Compensation System for Mobile Robot in Heterogeneous Environment; IFAC-PapersOnLine; Vol. 51, iss. 13 : 20th IFAC Conference on Technology, Culture, and International Stability TECIS 2021, Moscow, Russian Federation, 14–17 September 2021
| Parent link: | IFAC-PapersOnLine Vol. 51, iss. 13 : 20th IFAC Conference on Technology, Culture, and International Stability TECIS 2021, Moscow, Russian Federation, 14–17 September 2021.— 2021.— [P. 339-344] |
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| 1. autor: | |
| Korporacja: | |
| Kolejni autorzy: | , |
| Streszczenie: | Title screen Research of the robot’s motor currents during the motion across highly heterogeneous surface is considered in the paper. Dependencies between motor current and slip coefficient were obtained. The indirect variable, characterizing the wheels’ torque, was introduced. The motion vector compensation system was implemented. The motion compensation vector is determined through the indirect torque characterizing variables. The robot’s trajectory of motion with the implemented correction are presented. Obtained trajectories proved qualitative dependencies of the implemented system. Режим доступа: по договору с организацией-держателем ресурса |
| Język: | angielski |
| Wydane: |
2021
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| Hasła przedmiotowe: | |
| Dostęp online: | https://doi.org/10.1016/j.ifacol.2021.10.470 |
| Format: | Elektroniczne Rozdział |
| KOHA link: | https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=667930 |
| Streszczenie: | Title screen Research of the robot’s motor currents during the motion across highly heterogeneous surface is considered in the paper. Dependencies between motor current and slip coefficient were obtained. The indirect variable, characterizing the wheels’ torque, was introduced. The motion vector compensation system was implemented. The motion compensation vector is determined through the indirect torque characterizing variables. The robot’s trajectory of motion with the implemented correction are presented. Obtained trajectories proved qualitative dependencies of the implemented system. Режим доступа: по договору с организацией-держателем ресурса |
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| DOI: | 10.1016/j.ifacol.2021.10.470 |