Abstract
Slippage is inevitable when the mecanum wheel moves in a non-ideal environment which likes an uneven ground. Slippage is an important factor affecting the motion accuracy of the mecanum wheel. A novel six-input and five-output fuzzy controller is proposed to improve the motion accuracy of the mecanum wheel mobile platform (MWMP) in this paper. Firstly, the assembly model of the MWMP is designed by Solidworks software. The virtual prototype model can be obtained by Automatic Dynamic Analysis of Mechanical Systems (Adams) performing some parameter settings on the assembly model. Deviation data can be obtained easily and intuitively through ADAMS when the MWMP is moving. Co-simulation between Matlab and Adams is achieved through interface functions between them. Then, an ideal kinematics model is established in the global coordinate system. Finally, the thirteen fuzzy rules are designed based on the ten basic forms of motion of the MWMP. A fuzzy logic system (FLS) with adaptive function is established in Simulink. The experimental results indicate that the FLS can improve the robustness, adaptability and accuracy of the MWMP.
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Acknowledgment
This work is partially supported by National Key Research and Development Program of China under Grant 2017YFF0205306, National Nature Science Foundation of China under Grant 91648117, and Beijing Natural Science Foundation under Grant 4172055.
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Zuo, W., Ma, H., Wang, X., Han, C., Li, Z. (2019). Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_36
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DOI: https://doi.org/10.1007/978-3-030-27532-7_36
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