Stair Climbing of a Track-Driven Mobile Robot with Flipper Arm-Reference-Cited by-同舟云学术

Stair Climbing of a Track-Driven Mobile Robot with Flipper Arm

Published:2013-09 Issue: Volume:393 Page:586-591
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Mahadhir Khairul Azmi¹,Low Cheng Yee¹,Hamli Hizzul¹,Jaffar Ahmed²,Salleh Elwan²,Bahari M. Saiful²

Affiliation:

1. Fraunhofer Institute for Production Technology

2. Universiti Teknologi MARA

Abstract

On both natural and manmade terrains, the maneuverability of mobile robots has been improving. Nevertheless, stair climbing remains a challenging functionality for mobile robots. In this paper, a step-by-step stair climbing approach is proposed for a track-driven mobile robot equipped with flipper arms. The flipper arms are actuated by DC motors controlled by PID controller. Potentiometers and rotary encoders are used to provide closed loop feedbacks. Executable codes are generated using Real-Time Workshop of MATLAB/Simulink. The reference angles to be followed by the flipper arm in stair climbing are emulated and verified by real time experiments.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.393.586.pdf

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