Academic Journal
Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot.
| Τίτλος: | Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot. |
|---|---|
| Συγγραφείς: | Sahoo, Saumya R, Chiddarwar, Shital S |
| Πηγή: | Simulation; Feb2020, Vol. 96 Issue 2, p169-183, 15p |
| Θεματικοί όροι: | Hardware-in-the-loop simulation, Mobile robots, Bond graphs, Degrees of freedom, Arduino (Microcontroller), Simulation methods & models, Robot programming, Microcontrollers |
| Περίληψη: | Omnidirectional robots offer better maneuverability and a greater degree of freedom over conventional wheel mobile robots. However, the design of their control system remains a challenge. In this study, a real-time simulation system is used to design and develop a hardware-in-the-loop (HIL) simulation platform for an omnidirectional mobile robot using bond graphs and a flatness-based controller. The control input from the simulation model is transferred to the robot hardware through an Arduino microcontroller input board. For feedback to the simulation model, a Kinect-based vision system is used. The developed controller, the Kinect-based vision system, and the HIL configuration are validated in the HIL simulation-based environment. The results confirm that the proposed HIL system can be an efficient tool for verifying the performance of the hardware and simulation designs of flatness-based control systems for omnidirectional mobile robots. [ABSTRACT FROM AUTHOR] |
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| Βάση Δεδομένων: | Complementary Index |
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