Kinematic Modeling, Analysis, and Verification of an Essboard-Like Robot

The work describes the process of creating a physical model (prototype) of a device for transporting small-sized cargoes, which makes it possible to test the operation of stabilization algorithms and motion control of this class of devices. A CAD model of the device has been developed, and the physical model of the device has been assembled on its basis. Based on the STM32 microcontroller, a device position stabilization system was developed that receives sensory information from the accelerometer and gyroscope. For interrogating and processing data from sensors and controlling actuators the program code was developed. Test runs and data collection during the stabilization of the device's position were performed. A brief analysis of the data is performed, and prospects for further research in this area are indicated.

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Kinematic Modeling, Analysis, and Verification of an Essboard-Like Robot

Cited by 3 publications

References 23 publications

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Experimental Performance Analysis of a Self-Driving Vehicle Using High-Definition Maps

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Development of a Physical Model of the Device for Transporting Small Loads

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