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  • 1.
    La, Duc-Vinh
    et al.
    Halmstad University.
    Ishac, Rami
    Halmstad University.
    Stalker Robotplattform2015Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    In the robotics course Autonomous Mechatronic Systems at Halmstad University there is a problem that may occur during the construction of their wheeled mobile robots. Students have a tendency to build the robot so that it runs with maximum efficiency from start to braking. This means that when testing their robots, the motors wear out faster, which is providing an unnecessary cost. To reduce the cost, the goal of this project is to build and regulate such a robot using a positionplanner. The positionplanner creates smooth transitions at start and braking of the robot so that the motors does not wear out as fast.

    In this project, we will develop a robot that can be used as an educational teaching materials. The robot will be a template in the course for the students so they can see that it is possible to build a robot that can run with smooth transitions. The robot should both be able to follow a moving object with a fixed distance and be able to rotate. In this project, an investigation of a modeled and actual motor has been made through a systemidentification.

    The result was a robot that can follow a moving object with a fixed distance where starting and braking is done smoothly. With this robot, students can see that it is possible to build a robot running with smooth transitions, which leads to less wear on the motors. Stepresponses and bodeplots have been plotted through the systemidentification where differences and similarities between real and modeled motor can be seen.

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