Design, implementation and control of differential driven mobile robot with two contact points

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Supervisor:
Dr. Harmati István
Department of Control Engineering and Information Technology

This paper presents the development process of a differential driven robot construction. The aim of the development is to build an electro-mechanical construction, which gives the opportunity to design and implement control systems, on the other hand due to the robot’s mechanical design, it is capable of solving critical balancing tasks as well. The development process involved mathematical modelling of the construction, building the electronic system, programming the application and the embedded software, as well as the verification of the mathematical model by the help of the measurement results.

During the development process the first task was to define the mathematical model of the robot. Knowing the mathematical model enables simulation of the robot’s dynamic behaviour, as well as planning the theoretically grounded control. The model consists of the CAD graphic of the mechanical structure and the differential equations of the engines, wheels and the body of the robot. The equations have been solved and the results have been evaluated using MATLAB.

The next step after the modelling was planning, building and testing of the electronic system. The electronics driving the robot consists of two motor controlling H-bridges, the Bluetooth unit providing wireless communication, the microcontroller interface performing calculations, the sensor interface measuring the dynamic behaviour, and an USB-UART interface for secondary communication. The entire electronic unit operates on 3.3V.

The following step of development will be the programming of the operational hardware’s microcontroller interface and the application software. The task of the application software is to direct the robot and to record the measurements of the sensor interface. The embedded software running on the microcontroller executes commands received from the computer, as well as processes signals from the sensor interface. Due to this expansion, the entire dynamic behaviour of the construction will be measureable (sampled) and the mathematic model will be verifiable.

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