| 000 | 02936nlm0a2200481 4500 | ||
|---|---|---|---|
| 001 | 667930 | ||
| 005 | 20231030042131.0 | ||
| 035 | _a(RuTPU)RU\TPU\network\39141 | ||
| 035 | _aRU\TPU\network\29909 | ||
| 090 | _a667930 | ||
| 100 | _a20220516a2021 k y0engy50 ba | ||
| 101 | 0 | _aeng | |
| 102 | _aNL | ||
| 105 | _ay z 100zy | ||
| 135 | _adrcn ---uucaa | ||
| 181 | 0 | _ai | |
| 182 | 0 | _ab | |
| 200 | 1 |
_aSlip Detection and Compensation System for Mobile Robot in Heterogeneous Environment _fO. A. Brylev, E. A. Ivanov, A. S. Belyaev |
|
| 203 |
_aText _celectronic |
||
| 300 | _aTitle screen | ||
| 320 | _a[References: 11 tit.] | ||
| 330 | _aResearch of the robot’s motor currents during the motion across highly heterogeneous surface is considered in the paper. Dependencies between motor current and slip coefficient were obtained. The indirect variable, characterizing the wheels’ torque, was introduced. The motion vector compensation system was implemented. The motion compensation vector is determined through the indirect torque characterizing variables. The robot’s trajectory of motion with the implemented correction are presented. Obtained trajectories proved qualitative dependencies of the implemented system. | ||
| 333 | _aРежим доступа: по договору с организацией-держателем ресурса | ||
| 461 | _tIFAC-PapersOnLine | ||
| 463 |
_tVol. 51, iss. 13 : 20th IFAC Conference on Technology, Culture, and International Stability TECIS 2021, Moscow, Russian Federation, 14–17 September 2021 _oproceedings _v[P. 339-344] _d2021 |
||
| 610 | 1 | _aэлектронный ресурс | |
| 610 | 1 | _aтруды учёных ТПУ | |
| 610 | 1 | _amobile robot | |
| 610 | 1 | _acontrol system | |
| 610 | 1 | _aterrain | |
| 610 | 1 | _aslip detection | |
| 610 | 1 | _adifferent environments | |
| 610 | 1 | _aмобильные роботы | |
| 610 | 1 | _aсистемы управления | |
| 610 | 1 | _aместность | |
| 610 | 1 | _aсреды | |
| 700 | 1 |
_aBrylev _bO. A. _cSpecialist in the field of automatic control _cEngineer of Tomsk Polytechnic University _f1999- _gOleg Alexandrovich _2stltpush _3(RuTPU)RU\TPU\pers\46990 |
|
| 701 | 1 |
_aIvanov _bE. A. _gEgor Andreevich |
|
| 701 | 1 |
_aBelyaev _bA. S. _cSpecialist in the field of informatics and computer technology _cAssistant to Tomsk Polytechnic University _f1994- _gAleksandr Sergeevich _2stltpush _3(RuTPU)RU\TPU\pers\38249 |
|
| 712 | 0 | 2 |
_aНациональный исследовательский Томский политехнический университет _bИнженерная школа информационных технологий и робототехники _bОтделение автоматизации и робототехники (ОАР) _h7952 _2stltpush _3(RuTPU)RU\TPU\col\23553 |
| 801 | 2 |
_aRU _b63413507 _c20220516 _gRCR |
|
| 856 | 4 | _uhttps://doi.org/10.1016/j.ifacol.2021.10.470 | |
| 942 | _cCF | ||