Mobile robot positioning system

The report has examined the design, development and implementation of 4 Wheels Mobile Robots that implemented with Positioning System that can perform nonconventional maneuver. The report presents the process undertaken in the design and development of the Mobile Robot Positioning with using 4 wheel...

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Main Author: Khairulnizam Othman
Other Authors: Zunaidi Ibrahim, Dr. (Advisor)
Format: Learning Object
Language:English
Published: Universiti Malaysia Perlis 2008
Subjects:
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/3815
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spelling my.unimap-38152008-12-31T12:36:45Z Mobile robot positioning system Khairulnizam Othman Zunaidi Ibrahim, Dr. (Advisor) Robotics Robots -- Design and construction Mobile robots Positioning system Navigation Digital control systems The report has examined the design, development and implementation of 4 Wheels Mobile Robots that implemented with Positioning System that can perform nonconventional maneuver. The report presents the process undertaken in the design and development of the Mobile Robot Positioning with using 4 wheels (manufacture by Streamline design Inc.). Using these 4 Wheels drive, the Mobile Robots positioning provide 2 Degree of Freedom (DOF) for the mobility. Attention also paid for the development of kinematics and dynamic controlling schemes, which taken for the Odometry is based on simple equations which holds true when wheel revolutions can be translated accurately into linear displacement relative to the floor. All 4 wheel will rotate with, 2 wheels will rotate simultaneously at the right side which power with using dc motor same goes to the left side. The dc motor that we used is high torque dc motor. This will give a good controlling speed. A two channel high power H-bridge circuit using one unit of L293D motor driver. This component is build with complete circuit interface to a Parallax Basic Stamp (BS2) microcontroller module. Several motion control algorithm using BS2 software was develop to test the capabilities of system mobile motion in Y axis, X axis and other, particular attention is paid to evaluate the ability of the using Odometry to detect and correct positioning of the mobile platforms from 4 point. Data from the experiment was used as the discussion for the result and future works of the project. The Mobile Robot Positioning System using 4 wheels provide a convenient platform for future development in robotic. The combination of mechanical design of motor attach thru gear to the wheels and encoder for detecting angle and acceleration both side also give us good controlling method. This combination of mechanical design, controlling method (H- Bridge) and multiple input and output of sensor allow the exploration of large number in the implementation for control algorithm and software to the practical of Positioning System to the real life. 2008-12-31T12:36:45Z 2008-12-31T12:36:45Z 2008-03 Learning Object http://hdl.handle.net/123456789/3815 en Universiti Malaysia Perlis School of Mechatronic Engineering
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Robotics
Robots -- Design and construction
Mobile robots
Positioning system
Navigation
Digital control systems
spellingShingle Robotics
Robots -- Design and construction
Mobile robots
Positioning system
Navigation
Digital control systems
Khairulnizam Othman
Mobile robot positioning system
description The report has examined the design, development and implementation of 4 Wheels Mobile Robots that implemented with Positioning System that can perform nonconventional maneuver. The report presents the process undertaken in the design and development of the Mobile Robot Positioning with using 4 wheels (manufacture by Streamline design Inc.). Using these 4 Wheels drive, the Mobile Robots positioning provide 2 Degree of Freedom (DOF) for the mobility. Attention also paid for the development of kinematics and dynamic controlling schemes, which taken for the Odometry is based on simple equations which holds true when wheel revolutions can be translated accurately into linear displacement relative to the floor. All 4 wheel will rotate with, 2 wheels will rotate simultaneously at the right side which power with using dc motor same goes to the left side. The dc motor that we used is high torque dc motor. This will give a good controlling speed. A two channel high power H-bridge circuit using one unit of L293D motor driver. This component is build with complete circuit interface to a Parallax Basic Stamp (BS2) microcontroller module. Several motion control algorithm using BS2 software was develop to test the capabilities of system mobile motion in Y axis, X axis and other, particular attention is paid to evaluate the ability of the using Odometry to detect and correct positioning of the mobile platforms from 4 point. Data from the experiment was used as the discussion for the result and future works of the project. The Mobile Robot Positioning System using 4 wheels provide a convenient platform for future development in robotic. The combination of mechanical design of motor attach thru gear to the wheels and encoder for detecting angle and acceleration both side also give us good controlling method. This combination of mechanical design, controlling method (H- Bridge) and multiple input and output of sensor allow the exploration of large number in the implementation for control algorithm and software to the practical of Positioning System to the real life.
author2 Zunaidi Ibrahim, Dr. (Advisor)
author_facet Zunaidi Ibrahim, Dr. (Advisor)
Khairulnizam Othman
format Learning Object
author Khairulnizam Othman
author_sort Khairulnizam Othman
title Mobile robot positioning system
title_short Mobile robot positioning system
title_full Mobile robot positioning system
title_fullStr Mobile robot positioning system
title_full_unstemmed Mobile robot positioning system
title_sort mobile robot positioning system
publisher Universiti Malaysia Perlis
publishDate 2008
url http://dspace.unimap.edu.my/xmlui/handle/123456789/3815
_version_ 1643787947460263936
score 13.214268