Scientific and Technical Journal

ELECTROTECHNIC AND COMPUTER SYSTEMS

ISSN Print 2221-3937
ISSN Online 2221-3805
POSITIONAL CONTROL OF MOBILE ROBOTS
Abstract:

There is shown the possibility of positional control of autonomous mobile robot manipulator (AMR). The aim of the work is to analyze the position control of the manipulator with a fork and the clamping gripper and carts of AMR to simplify the mechanical assemblies and control algorithm of AMR. There are presented a control algorithm and method of calculating the displacement parameters in positional control of a robot manipulator with a combined lifting mechanism and capture as well as trolley robot using navigation systems. There are shown the dependence of the lift working body and moving carts on the angle arm. Article describes factors which affect the accuracy of positioning of the manipulator and the robot carts. Such approach to the implementation of autonomous mobile robot manipulators allows to simplify the structure of the robot and its control algorithm. 

Authors:
Keywords
DOI
10.15276/etks.13.89.2014.04
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