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] |
|---|---|
| Autor principal: | |
| Autor corporatiu: | |
| Altres autors: | , |
| Sumari: | 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 |
| Idioma: | anglès |
| Publicat: |
2021
|
| Matèries: | |
| Accés en línia: | https://doi.org/10.1016/j.ifacol.2021.10.470 |
| Format: | MixedMaterials Electrònic Capítol de llibre |
| KOHA link: | https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=667930 |
MARC
| LEADER | 00000naa0a2200000 4500 | ||
|---|---|---|---|
| 001 | 667930 | ||
| 005 | 20250731155046.0 | ||
| 035 | |a (RuTPU)RU\TPU\network\39141 | ||
| 035 | |a RU\TPU\network\29909 | ||
| 090 | |a 667930 | ||
| 100 | |a 20220516d2021 k||y0rusy50 ba | ||
| 101 | 0 | |a eng | |
| 102 | |a NL | ||
| 135 | |a drcn ---uucaa | ||
| 181 | 0 | |a i | |
| 182 | 0 | |a b | |
| 200 | 1 | |a Slip Detection and Compensation System for Mobile Robot in Heterogeneous Environment |f O. A. Brylev, E. A. Ivanov, A. S. Belyaev | |
| 203 | |a Текст |c электронный | ||
| 300 | |a Title screen | ||
| 320 | |a [References: 11 tit.] | ||
| 330 | |a 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. | ||
| 333 | |a Режим доступа: по договору с организацией-держателем ресурса | ||
| 461 | |t IFAC-PapersOnLine | ||
| 463 | |t Vol. 51, iss. 13 : 20th IFAC Conference on Technology, Culture, and International Stability TECIS 2021, Moscow, Russian Federation, 14–17 September 2021 |o proceedings |v [P. 339-344] |d 2021 | ||
| 610 | 1 | |a электронный ресурс | |
| 610 | 1 | |a труды учёных ТПУ | |
| 610 | 1 | |a mobile robot | |
| 610 | 1 | |a control system | |
| 610 | 1 | |a terrain | |
| 610 | 1 | |a slip detection | |
| 610 | 1 | |a different environments | |
| 610 | 1 | |a мобильные роботы | |
| 610 | 1 | |a системы управления | |
| 610 | 1 | |a местность | |
| 610 | 1 | |a среды | |
| 700 | 1 | |a Brylev |b O. A. |c Specialist in the field of automatic control |c Engineer of Tomsk Polytechnic University |f 1999- |g Oleg Alexandrovich |3 (RuTPU)RU\TPU\pers\46990 |9 22588 | |
| 701 | 1 | |a Ivanov |b E. A. |g Egor Andreevich | |
| 701 | 1 | |a Belyaev |b A. S. |c Specialist in the field of informatics and computer technology |c Associate Professor of Tomsk Polytechnic University, Candidate of technical sciences |f 1994- |g Aleksandr Sergeevich |y Tomsk |3 (RuTPU)RU\TPU\pers\38249 |9 20707 | |
| 712 | 0 | 2 | |a Национальный исследовательский Томский политехнический университет |b Инженерная школа информационных технологий и робототехники |b Отделение автоматизации и робототехники (ОАР) |3 (RuTPU)RU\TPU\col\23553 |
| 801 | 2 | |a RU |b 63413507 |c 20220516 |g RCR | |
| 850 | |a 63413507 | ||
| 856 | 4 | |u https://doi.org/10.1016/j.ifacol.2021.10.470 |z https://doi.org/10.1016/j.ifacol.2021.10.470 | |
| 942 | |c CF | ||