Struktura obiektu

Autor:

Bączyk, Aleksander ; Wojtowicz, Przemysław ; Klekiel, Tomasz

Współtwórca:

Jurczak, Paweł - red.

Tytuł:

Evaluation of velocity and acceleration effect on mecanum wheel robot positioning

Tytuł publikacji grupowej:

IJAME, volume 27 (2022)

Temat i słowa kluczowe:

robot ; Mecanum wheel ; calibration ; optical measurements

Abstract:

In this paper, a Mecanum wheel omnidirectional robotic platform made for taking measurements in harsh and dangerous conditions is introduced. Due to the necessity of highly accurate displacement of the platform for measuring the conditions at the exact measurement point and due to known Mecanum wheel slippage and relatively poor position accuracy, a calibration procedure for minimizing positioning error had to be implemented. ; For this task, a highly accurate stereographic digital image correlation (DIC) system was used to measure platform displacement. A series of parameters, namely linear maximum velocity and acceleration/deceleration values, were taken into account during the calibration procedure to find the best combination allowing precise movement of the robot. ; It was found that low acceleration values were the main causes of the robot`s poor positioning accuracy and could cause the robot`s motors to stall. Max speed values proved to have little effect on the robot`s positioning.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2022

Typ zasobu:

artykuł

Format:

application/pdf

DOI:

10.2478/ijame-2022-0033

Strony:

22-35

Źródło:

IJAME, volume 27, number 3 (2022)

Jezyk:

eng

Licencja:

CC 4.0

Licencja CC BY-NC-ND 4.0:

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Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego