Control System Design for the Omnidirectional Movement of a Robot
DOI:
https://doi.org/10.5281/zenodo.7153336Keywords:
Robot, Control, PID Control, Applied ElectronicsAbstract
This thesis work is about the creation of a control system design for the omnidirectional movement of a robot. This robot will be the basis for carrying out various projects in the future, since the idea is that by that time the robot will interact with man and his environment and can function as a service robot in the home. At the moment, it is sought to be a didactic prototype, in which mechatronic engineering students can learn in a practical way the knowledge acquired in control theory I, II and III subjects, as well as programming subjects. , mechanics and electronics. Students will be able to observe how the control systems work, specifically, the PID system (feedback control mechanism, consists of three different parameters: the proportional, the integral, and the derivative) that will be with which the robot will maintain balance. . They will observe how each parameter of this system works, as well as record the reading of the sensors, which will be the gyroscopes, these will command the position of the robot and the system will correct it.
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References
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