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008 190212t20182018my a f am 000 0 eng d
020 _aTHE0008050(Local)
039 9 _a201906181320
_bamy2
_y201902121615
_zsaini
040 _aUMP
_beng
_cUMP
_erda
090 _aFKEE .N67 2018 r Thesis
100 0 _aNorsharimie Mat Adam,
_eauthor.
245 1 0 _aReduction of inertia effect on omnidirectional wheeled mobile robot using impedance control /
_cNorsharimie Mat Adam
264 1 _aKuantan, Pahang :
_bUMP,
_c2018
264 4 _c© 2018
300 _axiii, 80 pages :
_billustrations (some color) ;
_c30 cm. +
_e1 CD-ROM
336 _atext
_2rdacontent
336 _atext
_2rdacontent
337 _aunmediated
_2rdamedia
337 _acomputer
_2rdamedia
338 _avolume
_2rdacarrier
338 _acomputer disc
_2rdacarrier
347 _atext file
_bPDF
_2rda
500 _aFaculty of Electrical and Electronics Engineering
502 _aThesis (Master of Science) -- Universiti Malaysia Pahang – 2018
504 _aIncludes bibliographical references
520 3 _aInertia 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.
610 2 0 _aFaculty of Electrical and Electronics Engineering
_xDissertations
650 0 _aUniversities and colleges
_xDisertations
650 0 _aTheses
999 _aVIRTUA40
_c8801
_d8807
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