Abstract
A kind of omnidirectional mobile robot based on the overhead track was studied. According to the motion characteristics, the system model of the controller, driving mechanism and the executed object were established. The stability of the impact and the interference of the inertia action on the system performance of the executed object were analyzed. The transient performance was analyzed by Matlab simulation, compared with the undisturbed system state, the feedback closed-loop of increasing speed (Kcs) was found improving the stability of the system. It was concluded that the dynamic performance of the system could be kept in the optimal state by modifying the values of Ka and Kc. Through the theoretical derivation, Matlab simulation and on-site debugging, the results showed that the control method could achieve the expected results.
Publication Date
2-28-2020
First Page
105
Last Page
109
DOI
10.13652/j.issn.1003-5788.2020.02.019
Recommended Citation
Kai, XU; Xian-xin, LIN; Gai, YI; and Guo-jin, LI
(2020)
"Research on the motion stability of omnidirectional mobile robot based on overhead track,"
Food and Machinery: Vol. 36:
Iss.
2, Article 19.
DOI: 10.13652/j.issn.1003-5788.2020.02.019
Available at:
https://www.ifoodmm.cn/journal/vol36/iss2/19
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