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.
Stair Climbing of a Track-Driven Mobile Robot with Flipper Arm
Applied Mechanics and Materials ; 393 ; 586-591
2013-09-03
6 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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