Sistema de Control con Lógica Difusa y Diseño de Plataforma Autónoma con Ruedas Mecanum a Partir de su Arquitectura

Este artículo presenta la implementación de una plataforma robótica móvil autónoma con ruedas mecanum para estudios en ambientes de carga. Se exploran los posibles movimientos y se eligen los que van a ser estandarizados dentro del sistema. Se propone una arquitectura híbrida novedosa para la interacción de los módulos de hardware y software del sistema. Se utilizan ecuaciones cinemáticas y de lógica difusa a bajo nivel para controlar la velocidad de los motores de las ruedas. Se hacen comparaciones de desempeño del sistema al variar el número de funciones de pertenencia en el programa de control del vehículo. Se analizan los desplazamientos laterales y rotacionales con respecto al centro de la plataforma. Los resultados muestran mejoras en el desempeño del sistema de control del robot y su consecuente fortalecimiento de los procesos de localización de la plataforma robótica.Este artículo presenta la implementación de una plataforma robótica móvil autónoma con ruedas mecanum para estudios en ambientes de carga. Se exploran los posibles movimientos y se eligen los que van a ser estandarizados dentro del sistema. Se propone una arquitectura híbrida novedosa para la interacción de los módulos de hardware y software del sistema. Se utilizan ecuaciones cinemáticas y de lógica difusa a bajo nivel para controlar la velocidad de los motores de las ruedas. Se hacen comparaciones de desempeño del sistema al variar el número de funciones de pertenencia en el programa de control del vehículo. Se analizan los desplazamientos laterales y rotacionales con respecto al centro de la plataforma. Los resultados muestran mejoras en el desempeño del sistema de control del robot y su consecuente fortalecimiento de los procesos de localización de la plataforma robótica

Sistema de Control con Lógica Difusa y Diseño de Plataforma Autónoma con Ruedas Mecanum a Partir de su Arquitectura

Este artículo presenta la implementación de una plataforma robótica móvil autónoma con ruedas mecanum para estudios en ambientes de carga. Se exploran los posibles movimientos y se eligen los que van a ser estandarizados dentro del sistema. Se propone una arquitectura híbrida novedosa para la interacción de los módulos de hardware y software del sistema. Se utilizan ecuaciones cinemáticas y de lógica difusa a bajo nivel para controlar la velocidad de los motores de las ruedas. Se hacen comparaciones de desempeño del sistema al variar el número de funciones de pertenencia en el programa de control del vehículo. Se analizan los desplazamientos laterales y rotacionales con respecto al centro de la plataforma. Los resultados muestran mejoras en el desempeño del sistema de control del robot y su consecuente fortalecimiento de los procesos de localización de la plataforma robótica

Modelling, simulation and experimental verification of a wheeled-locomotion system based on omnidirectional wheels

The following work focuses on the kinematic and dynamic study of a four-wheeled robot, which is equipped with omnidirectional Mecanum wheels. The main objective of the thesis is to obtain a mathematical model from which both the kinematics and kinetics of the robot can be analyzed. Furthermore, the study presents a methodology to optimize the torques (and subsequent associated voltages) provided by each of the motors on the robot for a given trajectory. A system in which a non-powered trailer pulled by the robot is also analyzed at a kinematic level. In this stage, four different cases are considered. The construction of the trailer is also described on this work. In the first chapter, the global state of the art on analysis and control of omnidirectional robots (with focus on robots with Mecanum wheels) is presented. In the second chapter, the physical considerations for the general movement of the robot are analyzed, in order to derive the kinematic constrain equations of the locomotion system. The differential equation of motion is then derived using Lagrange-equations with multipliers. This chapter presents as well the kinematic analysis for a robot-trailer system. The third chapter describes the general process on the design of the trailer, including the rejected ideas for its construction. The fourth chapter focuses on verifying the final results of the design process, as well as tests to check the mobility of the system. Conclusions and future work are analyzed on the final part of the document, as well as the references and the acknowledgments to all the people involved in the project.Tesi

On distributed mechatronics controller for omni-directional autonomous guided vehicles

Purpose – In this paper, two omni-directional mobile vehicles are designed and controlled implementing distributed mechatronics controllers. Omni-directionality is the ability of mobile vehicle to move instantaneously in any direction. It is achieved by implementing Mecanum wheels in one vehicle and conventional wheels in another vehicle. The control requirements for omni-directionality using the two above-mentioned methods are that each wheel must be independently driven, and that all the four wheels must be synchronized in order to achieve the desired motion of each vehicle. Design/methodology/approach – Distributed mechatronics controllers implementing Controller Area Network (CAN) modules are used to satisfy the control requirements of the vehicles. In distributed control architectures, failures in other parts of the control system can be compensated by other parts of the system. Three-layered control architecture is implemented for; time-critical tasks, event-based tasks, and task planning. Global variables and broadcast communication is used on CAN bus. Messages are accepted in individual distributed controller modules by subscription. Findings – Increase in the number of distributed modules increases the number of CAN bus messages required to achieve smooth working of the vehicles. This requires development of higher layer to manage the messages on the CAN bus. Research limitations/implications – The limitation of the research is that analysis of the distributed controllers that were developed is complex, and that there are no universally accepted tool for conducting the analysis. The other limitation is that the mathematical models of the mobile robot that have been developed need to be verified. Practical implications – In the design of omni-directional vehicles, reliability of the vehicle can be improved by modular design of mechanical system and electronic system of the wheel modules and the sensor modules. Originality/value – The paper tries to show the advantages of distributed controller for omni-directional vehicles. To the author's knowledge, that is a new concept