Differential drive kinematics and odometry for a mobile robot using TwinCAT
In this paper, we propose a motion control system for a low-cost differential drive mobile robot. The robotic platform is equipped with two driven wheels powered by Beckhoff motors, instrumented with incremental encoders. The control system is designed and implemented using Beckhoff's TwinCAT 3...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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AIMS Press
2023-02-01
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| Series: | Electronic Research Archive |
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| Online Access: | http://www.aimspress.com/article/doi/10.3934/era.2023092?viewType=HTML |
| _version_ | 1827953863676657664 |
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| author | Miguel Ferreira Luís Moreira António Lopes |
| author_facet | Miguel Ferreira Luís Moreira António Lopes |
| author_sort | Miguel Ferreira |
| collection | DOAJ |
| description | In this paper, we propose a motion control system for a low-cost differential drive mobile robot. The robotic platform is equipped with two driven wheels powered by Beckhoff motors, instrumented with incremental encoders. The control system is designed and implemented using Beckhoff's TwinCAT 3 automation software, running on an industrial PC. The system is tested and experimentally tuned to achieve optimal performance. The method allows addressing both odometry motion accuracy and motion correction in order to obtain minimum trajectory errors. Test results on linear and angular robot trajectories show errors below 0.02 and 0.03%, respectively, after tuning of the motion parameters. The proposed approach can be expanded, tweaked and applied to other differential drive TwinCAT 3 based robotic solutions. This will contribute to expanding mobile robot applications to a variety of fields, such as industrial automation, logistics, warehouse management, health care, ocean and space exploration and a variety of other industrial and non-industrial activities. |
| first_indexed | 2024-04-09T14:20:10Z |
| format | Article |
| id | doaj.art-f5c97eeb5cea47ba919fc1c432e78326 |
| institution | Directory Open Access Journal |
| issn | 2688-1594 |
| language | English |
| last_indexed | 2024-04-09T14:20:10Z |
| publishDate | 2023-02-01 |
| publisher | AIMS Press |
| record_format | Article |
| series | Electronic Research Archive |
| spelling | doaj.art-f5c97eeb5cea47ba919fc1c432e783262023-05-05T01:08:55ZengAIMS PressElectronic Research Archive2688-15942023-02-013141789180310.3934/era.2023092Differential drive kinematics and odometry for a mobile robot using TwinCATMiguel Ferreira0Luís Moreira 1António Lopes21. Departamento de Engenharia Mecânica, Faculdade de Engenharia (FEUP), Universidade do Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal2. Instituto de Ciência e Inovação em Engenharia Mecânica e Engenharia Industrial (INEGI), Rua Dr. Roberto Frias, 4200-465 Porto, Portugal1. Departamento de Engenharia Mecânica, Faculdade de Engenharia (FEUP), Universidade do Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal 2. Instituto de Ciência e Inovação em Engenharia Mecânica e Engenharia Industrial (INEGI), Rua Dr. Roberto Frias, 4200-465 Porto, PortugalIn this paper, we propose a motion control system for a low-cost differential drive mobile robot. The robotic platform is equipped with two driven wheels powered by Beckhoff motors, instrumented with incremental encoders. The control system is designed and implemented using Beckhoff's TwinCAT 3 automation software, running on an industrial PC. The system is tested and experimentally tuned to achieve optimal performance. The method allows addressing both odometry motion accuracy and motion correction in order to obtain minimum trajectory errors. Test results on linear and angular robot trajectories show errors below 0.02 and 0.03%, respectively, after tuning of the motion parameters. The proposed approach can be expanded, tweaked and applied to other differential drive TwinCAT 3 based robotic solutions. This will contribute to expanding mobile robot applications to a variety of fields, such as industrial automation, logistics, warehouse management, health care, ocean and space exploration and a variety of other industrial and non-industrial activities.http://www.aimspress.com/article/doi/10.3934/era.2023092?viewType=HTMLmobile roboticsdifferential drivekinematicsodometrycalibrationtwincat |
| spellingShingle | Miguel Ferreira Luís Moreira António Lopes Differential drive kinematics and odometry for a mobile robot using TwinCAT Electronic Research Archive mobile robotics differential drive kinematics odometry calibration twincat |
| title | Differential drive kinematics and odometry for a mobile robot using TwinCAT |
| title_full | Differential drive kinematics and odometry for a mobile robot using TwinCAT |
| title_fullStr | Differential drive kinematics and odometry for a mobile robot using TwinCAT |
| title_full_unstemmed | Differential drive kinematics and odometry for a mobile robot using TwinCAT |
| title_short | Differential drive kinematics and odometry for a mobile robot using TwinCAT |
| title_sort | differential drive kinematics and odometry for a mobile robot using twincat |
| topic | mobile robotics differential drive kinematics odometry calibration twincat |
| url | http://www.aimspress.com/article/doi/10.3934/era.2023092?viewType=HTML |
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