Internet of Robotic Things (IoRT) and Metaheuristic Optimization Techniques Applied for Wheel-Legged Robot-Reference-Cited by-同舟云学术

Internet of Robotic Things (IoRT) and Metaheuristic Optimization Techniques Applied for Wheel-Legged Robot

Published:2023-09-06 Issue:9 Volume:15 Page:303
ISSN:1999-5903
Container-title:Future Internet
language:en
Short-container-title:Future Internet

Author:

Malarczyk Mateusz¹^ORCID,Kaczmarczyk Grzegorz¹^ORCID,Szrek Jaroslaw²^ORCID,Kaminski Marcin¹^ORCID

Affiliation:

1. Department of Electrical Machines, Drives and Measurements, Faculty of Electrical Engineering, Wroclaw University of Science and Technology, Smoluchowskiego 19, 50-372 Wroclaw, Poland

2. Department of Fundamentals of Machine Design and Mechatronic Systems, Faculty of Mechanical Engineering, Wroclaw University of Science and Technology, Lukasiewicza 7/9, 50-372 Wroclaw, Poland

Abstract

This paper presents the operation of a remotely controlled, wheel-legged robot. The developed Wi-Fi connection framework is established on a popular ARM microcontroller board. The implementation provides a low-cost solution that is in congruence with the newest industrial standards. Additionally, the problem of limb structure and motor speed control is solved. The design process of the mechanical structure is enhanced by a nature-inspired metaheuristic optimization algorithm. An FOC-based BLDC motor speed control strategy is selected to guarantee dynamic operation of the drive. The paper provides both the theoretical considerations and the obtained prototype experimental results.

Publisher

MDPI AG

Subject

Computer Networks and Communications

Link

https://www.mdpi.com/1999-5903/15/9/303/pdf

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