The paper presents the application of the optimal control method at the energy perfor- mance index towards motion control of the 2-wheeled mobile robot. With the use of the proposed method of control the 2-wheeled mobile robot can realise effectively the desired trajectory. The problem of motion control of mobile robots is usually neglected and thus performance of the realisation of the high level control tasks is limited.
Optimal control at energy performance index of the mobile robots following dynamically created trajectories
In practice, the problem of motion control of the wheeled mobile robots is often neglected. Wheeled mobile robots are strongly nonlinear systems and restricted by non-holonomic constraints. Motion control of such systems is not trivial task and usage of non-optimal control signals can lead to deterioration of the overall robot system’s performance. In case of autonomous application of the mobile robots all parts of its control...
Modern industry expectations in terms of milling operations often demand the milling of the flexible details by using slender ball-end tools. This is a difficult task because of possible vibration occurrence. Due to existence of certain conditions (small depths of cutting, regeneration phenomena), cutting process may become unstable and self-excited chatter vibration may appear. Frequency of the chatter vibration is close to dominant...
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