Mechanical design and position control of a modular mechatronic device (MechaCell)
Proceedings of the 2015 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2015
725 - 730
Item Usage Stats
MetadataShow full item record
Manufacturing techniques have advanced exponentially in recent years, providing means for production of smaller and more powerful electronics, which makes it compelling to design small and more powerful robots. Our work focuses on a mechanical design and position control of a modular mechatronic device called MechaCell. Mechacells are designed as modular semi-autonomous devices which can be used alone or part of a pack. In this paper our main focus is on the mechanical design of the Mechacell, especially the locomotion system which uses forces produced by a rotating unbalance that moves in a spherical domain for steering of the Mechacell. As part of the supervisory algorithm an overhead HD camera is used for position tracking of the Mechacell; the data is then sent to the Mechacells through a wireless connection. A proportional integral derivative controller is used as a base controller; then a friction compensation algorithm is added, based on the mathematical model of the Mechacell's locomotion system. Steering and locomotion controller of the Mechacell is validated using a complex motion profile in the developed testbed.
Proportional control systems
Two term control systems
Proportional integral derivative controllers
Published Version (Please cite this version)http://dx.doi.org/10.1109/AIM.2015.7222623
Showing items related by title, author, creator and subject.
Gündeş, A. N.; Özbay, Hitay (Taylor & Francis, 2010-03)Reliable decentralised proportional-integral-derivative controller synthesis methods are presented for closed-loop stabilisation of linear time-invariant plants with two multi-input, multi-output (MIMO) channels subject ...
Serel, D. A. (Elsevier, 2009)For monitoring the stability of a process, various control charts based on exponentially weighted moving average (EWMA) statistics have been proposed in the literature. We study the economic design of EWMA-based mean and ...
Concurrent design of energy management and vehicle traction supervisory control algorithms for parallel hybrid electric vehicles Dokuyucu, H. I.; Cakmakci, M. (Institute of Electrical and Electronics Engineers Inc., 2016)In this paper, concurrent design of energy management (EM) and traction control algorithms for a vehicle equipped with a parallel hybrid powertrain is studied. This paper focuses on designing the two control algorithms ...