DEVELOPMENT OF A MICROPROCESSOR SYSTEM FOR CONTROLLING A TRACKED MOBILE ROBOT

G.H. HAKOBYAN; A.G. QAMALYAN; Q.A. AVETISYAN

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G.H. HAKOBYAN National Polytechnic University of Armenia Author
A.G. QAMALYAN National Polytechnic University of Armenia Author
Q.A. AVETISYAN National Polytechnic University of Armenia Author

Keywords:

dynamic model, kinematic model, mobile robot, tracked vehicle

Abstract

The modeling and control of tracked mobile robots are studied. The problem of synthesis of the robot's linear and angular velocitystabilizing system is considered. To implement the feedback in the control system, quadrature encoders are used. Setting the coefficients of the regulator is carried out bythe mathematical model. The results of simulation and experimental testing are presented.

DEVELOPMENT OF A MICROPROCESSOR SYSTEM FOR CONTROLLING A TRACKED MOBILE ROBOT

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