Development of a walking robot motor control system
The paper describes the modeling and practical implementation of a three-loop motor control system for a walking robot with six arc-shaped thrusters. The paper also investigates the impact of the quality of identification of the mathematical model on the coefficients of the control system.
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Tomsk Polytechnic University
2024-09-01
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| Series: | Известия Томского политехнического университета: Промышленная кибернетика |
| Subjects: | |
| Online Access: | https://indcyb.ru/journal/article/view/65/54 |
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| _version_ | 1849419243342266368 |
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| author | Vladimir S. Manzarov Nikita I. Poberezkin |
| author_facet | Vladimir S. Manzarov Nikita I. Poberezkin |
| author_sort | Vladimir S. Manzarov |
| collection | DOAJ |
| description | The paper describes the modeling and practical implementation of a three-loop motor control system for a walking robot with six arc-shaped thrusters. The paper also investigates the impact of the quality of identification of the mathematical model on the coefficients of the control system. |
| format | Article |
| id | doaj-art-dbcdc2eb175f42d8923cd61657976977 |
| institution | Kabale University |
| issn | 2949-5407 |
| language | English |
| publishDate | 2024-09-01 |
| publisher | Tomsk Polytechnic University |
| record_format | Article |
| series | Известия Томского политехнического университета: Промышленная кибернетика |
| spelling | doaj-art-dbcdc2eb175f42d8923cd616579769772025-08-20T03:32:11ZengTomsk Polytechnic UniversityИзвестия Томского политехнического университета: Промышленная кибернетика2949-54072024-09-0123364610.18799/29495407/2024/3/65Development of a walking robot motor control systemVladimir S. Manzarov0Nikita I. Poberezkin1National research Tomsk Polytechnic University, Tomsk, Russian FederationNational research Tomsk Polytechnic University, Tomsk, Russian FederationThe paper describes the modeling and practical implementation of a three-loop motor control system for a walking robot with six arc-shaped thrusters. The paper also investigates the impact of the quality of identification of the mathematical model on the coefficients of the control system.https://indcyb.ru/journal/article/view/65/54roboticscontrol systemwalking robothexapodsubordinate control systemdc motordrivethree-loop control system |
| spellingShingle | Vladimir S. Manzarov Nikita I. Poberezkin Development of a walking robot motor control system Известия Томского политехнического университета: Промышленная кибернетика robotics control system walking robot hexapod subordinate control system dc motor drive three-loop control system |
| title | Development of a walking robot motor control system |
| title_full | Development of a walking robot motor control system |
| title_fullStr | Development of a walking robot motor control system |
| title_full_unstemmed | Development of a walking robot motor control system |
| title_short | Development of a walking robot motor control system |
| title_sort | development of a walking robot motor control system |
| topic | robotics control system walking robot hexapod subordinate control system dc motor drive three-loop control system |
| url | https://indcyb.ru/journal/article/view/65/54 |
| work_keys_str_mv | AT vladimirsmanzarov developmentofawalkingrobotmotorcontrolsystem AT nikitaipoberezkin developmentofawalkingrobotmotorcontrolsystem |