tailieunhanh - Robotics Episode 8

Tham khảo tài liệu 'robotics episode 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 198 Robotics FIGURE Unipolar stepper motor coil setup left and 1-phase drive pattern right . The Sequencing of the Stepper Motors The stepper motor coils are required to be energized in a particular sequence. There are several kinds of sequences that can be used to drive stepper motors. The following table gives the sequence for energizing the coils that is used in the software of our system. The steps are repeated when reaching the end of the table. Following the steps in ascending order drives the motor in one direction going in descending order drives the motor the other way. The Software Subsystem The software subsystem generates the signals required to drive the two stepper motors so that the vehicle is able to travel in the desired manner. This is attained in the following steps. 1. The user provides the desired destination points that the vehicle has to reach. The software designates an initial position to the vehicle and defines a final position that the vehicle has to reach in a Cartesian coordinate reference frame. Based on these values the software calculates a desired steering angle that the vehicle has to rotate and the desired distance that the vehicle has to travel. 2. Based on these values the kinematic model of the system decides what wheel speeds have to be provided to the individual wheels. The kinematic model will be described in detail in the next section. 3. Finally the stepper motor driving algorithm decides the stepping rate for the individual wheels. 4. The software interface generates a plot of the vehicle while in motion. Wheeled Mobile Robots 199 The Kinematic Model The purpose of the kinematic model of the vehicle is to determine the relationship between the motions of the driving members of the system so that the motion is slip free. For a WMR when the wheels do not skid the motion is determined by the constraints of the geometry of the system. This kind of dynamic system is called a nonholonomic system. The mathematical model of

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