Simulation research on motion connection system of omnidirectional mobile robot based on PID bontrol

Authors

LIN Xian-xin, Guangxi Institute of Mechanical and Electrical Technology, Nanning, Guangxi 530007, China

Abstract

In this study, the mathematical model of rigid connection between omni-directional mobile robot and dish transportation tray was established, and its transfer function was calculated. The impact interference of the object subjected to inertia force and friction force on the system performance was analyzed, and the method of using series PID controller for correction was proposed. Through theoretical and empirical formula calculation, the optimal control system and the optimal system waveform were obtained. The simulation results showed that the rigid connection between omni-directional mobile robot and tray on overhead track was better, and the efficiency of dish transportation was improved. It had great reference value for the performance analysis of mobile robot with mcnamb wheel as walking system.

Publication Date

3-28-2021

First Page

102

Last Page

104,111

DOI

10.13652/j.issn.1003-5788.2021.03.019

Recommended Citation

Xian-xin, LIN (2021) "Simulation research on motion connection system of omnidirectional mobile robot based on PID bontrol," Food and Machinery: Vol. 37: Iss. 3, Article 19.
DOI: 10.13652/j.issn.1003-5788.2021.03.019
Available at: https://www.ifoodmm.cn/journal/vol37/iss3/19

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