SUBJECT REPORT designing tricycle with a trailer mobile robot
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SUBJECT REPORT designing tricycle with a trailer mobile robot
• T*. ........:...—Hanoi University of Science and Technolog-SEE-SUBJECT REPORTDesigning Tricycle With A Trailer Mobile RobotSupervisor: Dr.Vu Thi Thu SUBJECT REPORT designing tricycle with a trailer mobile robot uy NgaGratitude And AcknowledgmentsOur team would like to express our sincere thanks to Dr. Vu Thi Thuy Nga, previous classmates, and colleagues for their great support during the implementation of this project. Currently, the group also has many shortcomings and the results have not reached the max SUBJECT REPORT designing tricycle with a trailer mobile robot imum set goals, but the work written in the report is the effort of all members. We hope, this project will help with the implementation of our graduaSUBJECT REPORT designing tricycle with a trailer mobile robot
tion thesis.IntroductionThe world is more and more modern, the application of technolog}' to life becomes inevitable. Applications using mobile robots• T*. ........:...—Hanoi University of Science and Technolog-SEE-SUBJECT REPORTDesigning Tricycle With A Trailer Mobile RobotSupervisor: Dr.Vu Thi Thu SUBJECT REPORT designing tricycle with a trailer mobile robot the robot is used in unmanned combat aircraft, automatic minesweeping robot... With a passion for making automatic robots with As university students, our team learned and decided to deploy the " Designing Tricycle With A Trailer Mobile Robot" model, which is a branch of autonomous robot cars, to s SUBJECT REPORT designing tricycle with a trailer mobile robot atisfy our passion as well as meet the requirements of the subject.In this project, due to the limitation of specialized knowledge and working experieSUBJECT REPORT designing tricycle with a trailer mobile robot
nce, we implement 2 modules with modules. With the first module, we are based on understanding the mathematical model of mobile robots. 3 wheels with • T*. ........:...—Hanoi University of Science and Technolog-SEE-SUBJECT REPORTDesigning Tricycle With A Trailer Mobile RobotSupervisor: Dr.Vu Thi Thu SUBJECT REPORT designing tricycle with a trailer mobile robot ference trajectory, combined with the compensation controller and related mathematical formulas that we will write in detail below, and at the same time design feedback hardware for the application of a digital PID controller, displayed on (he LCD screen, no feedback yet. position. The second module SUBJECT REPORT designing tricycle with a trailer mobile robot is to simulate the line detection robot on Matlab Simulink, then design the hardware with 2 modes: self-propelled line detector and manual control onSUBJECT REPORT designing tricycle with a trailer mobile robot
the phone with communication method by communication module available.ContentsGratitude And Acknowledgments..........................................• T*. ........:...—Hanoi University of Science and Technolog-SEE-SUBJECT REPORTDesigning Tricycle With A Trailer Mobile RobotSupervisor: Dr.Vu Thi Thu SUBJECT REPORT designing tricycle with a trailer mobile robot Formulas And Mobile Robot Modeling........................................6I.Model of Mobile Robot (WMR)................................................................61.Kinematics Model.......................................................................72.Motion Constrains..................... SUBJECT REPORT designing tricycle with a trailer mobile robot ...........................................................................................93.Dynamic Model...........................................SUBJECT REPORT designing tricycle with a trailer mobile robot
...............................9Chapter 2. Controller Design For The WMR And Simulation Results..................................12I. Ask for math pro• T*. ........:...—Hanoi University of Science and Technolog-SEE-SUBJECT REPORTDesigning Tricycle With A Trailer Mobile RobotSupervisor: Dr.Vu Thi Thu SUBJECT REPORT designing tricycle with a trailer mobile robot ...............162.Dynamic Controller....................................................................18Chapter 3: Design a Robot Speed Control System Using PID Controller With DCMotor And Display On LCD.........................................................................24I.Ideas and Hardwar SUBJECT REPORT designing tricycle with a trailer mobile robot e Implementations........................................................24II.Common methods for determining controller parameters....................SUBJECT REPORT designing tricycle with a trailer mobile robot
.................252.1Sample holder in closed loop control.................................................272.2Simulation of the PID in the discrete • T*. ........:...—Hanoi University of Science and Technolog-SEE-SUBJECT REPORTDesigning Tricycle With A Trailer Mobile RobotSupervisor: Dr.Vu Thi Thu SUBJECT REPORT designing tricycle with a trailer mobile robot uilding A General Block Diagram..........................................................29II.Hardware.................................................................................322.1Motor Drive..........................................................................322.2Encoder Motor......... SUBJECT REPORT designing tricycle with a trailer mobile robot ..............................................................332.3Power Supply.......................................................................SUBJECT REPORT designing tricycle with a trailer mobile robot
.332.4Microcontroller.....................................................................34• T*. ........:...—Hanoi University of Science and Technolog-SEE-SUBJECT REPORTDesigning Tricycle With A Trailer Mobile RobotSupervisor: Dr.Vu Thi Thu• T*. ........:...—Hanoi University of Science and Technolog-SEE-SUBJECT REPORTDesigning Tricycle With A Trailer Mobile RobotSupervisor: Dr.Vu Thi ThuGọi ngay
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