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Reduction of inertia effect on omnidirectional wheeled mobile robot using impedance control / Norsharimie Mat Adam

By:

Norsharimie Mat Adam [author.]

Material type: Text

text
text

Media type:

unmediated
computer

Carrier type:

volume
computer disc

ISBN:

THE0008050(Local)

Subject(s):

Dissertation note: Thesis (Master of Science) -- Universiti Malaysia Pahang – 2018 Abstract: Inertia factor in a mobile robot motion is one of the issues that need to be tackled for safety and energy efficiencies especially on the Wheel Mobile Robot (WMRS) system in dealing with confine cornering routes. According to the literature review, inertia may cause due to the overdriven, slip of the WMRS, over force, sharp turn in cornering and emergency stop. Therefore, this research has taken the initiative to design and model a dynamic control to cater the inertia factors happen on the mobile robot during cornering motions. An Omnidirectional Mecanum Wheeled Mobile Robot (OMWMR) is selected as a platform for modelling and control design since this configuration is favourable for confine area application. Kinematics of OMWMR is modelled by considering the mecanum wheel coordination to the centre body of the robot frame and further with dynamic modelling and analysis. With reference to the problem statements in the kinematics and dynamics analyses, inertia shaping technique is designed by using impedance control approach where the difference of vehicle forces is considered as interaction force of the vehicle have indirectly controlled through the velocities of the vehicle. The research scope is emphasized on the vertical (X-axis) and horizontal (Y-axis) of the OMWMR motions during cornering periods where the inertia is a critical state. Since velocity state is the lowest order for the wheeled type system kinematics system, the velocity-based impedance control is derived proposed as the dynamic control for OMWMR system to cater the mentioned issue in cornering period. This proposed dynamic control concerning both stiffness and damping ratio as parameters tuning. The control objective is to shape the velocity input of the OMWMR system during cornering period with reference to the different force inputs on both X and Y axes of the system where the difference torques on each wheel with friction torque were considered. As for the verification, the proposed dynamic control was modelled and simulated with OMWMR system model plant. The results show that the proposed impedance control is able to reduce the different forces on each X and Y axes of the robot by reducing its velocity inputs at the cornering period. On the other hand, kinetic energy reduction at the same period influenced by robot’s velocities proved that the proposed control has reduced the inertia effect on the OMWMR system.

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Holdings ( 2 )
Title notes ( 4 )

Holdings
Item type	Current library	Call number	Copy number	Status	Date due	Barcode
Restricted Collection	UMPLIB PEKAN	FKEE .N67 2018 r Thesis (Browse shelf(Opens below))	1	Not for loan		0000126550
Restricted Collection	UMPLIB PEKAN	CD 11527 \| FKEE .N67 2018 r Thesis (Browse shelf(Opens below))	1	Not for loan		0000126551

Faculty of Electrical and Electronics Engineering

Thesis (Master of Science) -- Universiti Malaysia Pahang – 2018

Includes bibliographical references

Inertia factor in a mobile robot motion is one of the issues that need to be tackled for safety and energy efficiencies especially on the Wheel Mobile Robot (WMRS) system in dealing with confine cornering routes. According to the literature review, inertia may cause due to the overdriven, slip of the WMRS, over force, sharp turn in cornering and emergency stop. Therefore, this research has taken the initiative to design and model a dynamic control to cater the inertia factors happen on the mobile robot during cornering motions. An Omnidirectional Mecanum Wheeled Mobile Robot (OMWMR) is selected as a platform for modelling and control design since this configuration is favourable for confine area application. Kinematics of OMWMR is modelled by considering the mecanum wheel coordination to the centre body of the robot frame and further with dynamic modelling and analysis. With reference to the problem statements in the kinematics and dynamics analyses, inertia shaping technique is designed by using impedance control approach where the difference of vehicle forces is considered as interaction force of the vehicle have indirectly controlled through the velocities of the vehicle. The research scope is emphasized on the vertical (X-axis) and horizontal (Y-axis) of the OMWMR motions during cornering periods where the inertia is a critical state. Since velocity state is the lowest order for the wheeled type system kinematics system, the velocity-based impedance control is derived proposed as the dynamic control for OMWMR system to cater the mentioned issue in cornering period. This proposed dynamic control concerning both stiffness and damping ratio as parameters tuning. The control objective is to shape the velocity input of the OMWMR system during cornering period with reference to the different force inputs on both X and Y axes of the system where the difference torques on each wheel with friction torque were considered. As for the verification, the proposed dynamic control was modelled and simulated with OMWMR system model plant. The results show that the proposed impedance control is able to reduce the different forces on each X and Y axes of the robot by reducing its velocity inputs at the cornering period. On the other hand, kinetic energy reduction at the same period influenced by robot’s velocities proved that the proposed control has reduced the inertia effect on the OMWMR system.