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 |
| Published: |
AIMS Press
2023-02-01
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| Series: | Electronic Research Archive |
| Subjects: | |
| Online Access: | http://www.aimspress.com/article/doi/10.3934/era.2023092?viewType=HTML |