Development of a general purpose motion control systems for robots and vehicles
Robots are now playing significant roles in our daily life. The motion control is one of the key technologies in the robotic industry. However, the motion control systems used today are still not stable enough for moving robots and self-driving vehicles. In this report, the author aimed to developed...
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sg-ntu-dr.10356-774702019-12-10T14:42:54Z Development of a general purpose motion control systems for robots and vehicles Wang, Changbin Xie Ming School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering Robots are now playing significant roles in our daily life. The motion control is one of the key technologies in the robotic industry. However, the motion control systems used today are still not stable enough for moving robots and self-driving vehicles. In this report, the author aimed to developed a general-purposed motion control system for robots and vehicles based on polynomial trajectory generation and PID control algorithm. The author has found that the actual value would gradually reach the desired value using the motion control system, but the result is not as perfect as ideal value. This report will explore the theory of PID motion algorithm, usage of hardware, and how to develop the motion control system. Bachelor of Engineering (Mechanical Engineering) 2019-05-29T07:25:06Z 2019-05-29T07:25:06Z 2019 Final Year Project (FYP) http://hdl.handle.net/10356/77470 en Nanyang Technological University 46 p. application/msword |
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Nanyang Technological University |
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Singapore |
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English |
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DRNTU::Engineering::Mechanical engineering |
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DRNTU::Engineering::Mechanical engineering Wang, Changbin Development of a general purpose motion control systems for robots and vehicles |
| description |
Robots are now playing significant roles in our daily life. The motion control is one of the key technologies in the robotic industry. However, the motion control systems used today are still not stable enough for moving robots and self-driving vehicles. In this report, the author aimed to developed a general-purposed motion control system for robots and vehicles based on polynomial trajectory generation and PID control algorithm. The author has found that the actual value would gradually reach the desired value using the motion control system, but the result is not as perfect as ideal value. This report will explore the theory of PID motion algorithm, usage of hardware, and how to develop the motion control system. |
| author2 |
Xie Ming |
| author_facet |
Xie Ming Wang, Changbin |
| format |
Final Year Project |
| author |
Wang, Changbin |
| author_sort |
Wang, Changbin |
| title |
Development of a general purpose motion control systems for robots and vehicles |
| title_short |
Development of a general purpose motion control systems for robots and vehicles |
| title_full |
Development of a general purpose motion control systems for robots and vehicles |
| title_fullStr |
Development of a general purpose motion control systems for robots and vehicles |
| title_full_unstemmed |
Development of a general purpose motion control systems for robots and vehicles |
| title_sort |
development of a general purpose motion control systems for robots and vehicles |
| publishDate |
2019 |
| url |
http://hdl.handle.net/10356/77470 |
| _version_ |
1681045302538141696 |