Infrared and Laser Engineering, Volume. 50, Issue S2, 20210109(2021)
Remote control robot system based on predictive algorithm
Figures & Tables(20)
Fig. 14. Path trajectory of mobile robot in non-visible environment (curve)
Fig. 16. Experimental environment of mobile robot（rectangular path）
Fig. 17. Path trajectory of mobile robot in non-visual environment (rectangular)
Table 1. D-H parameter table of the PHANTOM Omni structure
View tableView in ArticleTable 1. D-H parameter table of the PHANTOM Omni structure
Number of joints Zaxis rotation angle Distance between common perpendiculars Joint offset Joint torsional $\theta $ $d$ $a$ $\alpha $ 1 $\theta _1^{\rm{*}}$ ${d_1}$ 0 $ - {90^ \circ }$ 2 $\theta _2^{\rm{*}}$ 0 ${a_2}$ 0 3 $\theta _3^{\rm{*}}$ 0 ${a_3}$ 0
Table 2. Parameters table of the mobile robot
View tableView in ArticleTable 2. Parameters table of the mobile robot
Parameter Meaning of parameters $m$ Mass of mobile robots（ $5.61 \;\rm kg$ ）$I$ Moment of inertia of mobile robot（ $0.05 \;\rm kg{n^2}$ ）$2R$ Distance between two driving wheels（ $0.290\;\rm m$ ）$r$ Driving wheel radius（ $0.075\;\rm m$ ）$O,X,Y$ Spatial coordinates $C,{X_c},{Y_c}$ Coordinates of the mobile robot $X,Y$ Center position of the mobile robot in Cartesian coordinates $\theta $ Angle between $X$ and${X_c}$
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Fenggang Liu, Lei Ding, Li Xiao. Remote control robot system based on predictive algorithm[J]. Infrared and Laser Engineering, 2021, 50(S2): 20210109
Paper Information
Category: Photoelectric measurement
Received: May. 25, 2021
Accepted: --
Published Online: Dec. 3, 2021
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