期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2012
卷号：6
期号：4
页码：50
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：The paper compares simulation results for direct and PWM control of DC motors in a tri-wheel mobile robot with a castor sliding wheel. Our aim was to determine to what extent PWM control changes the trajectory accura- cy. For this purpose, we compare kinematic and dynamic control. To make the model more realistic, we consid- ered the impact of viscous and rolling friction of driving wheels on the motion along the trajectory. We conclude that dynamic control is of higher quality as compared to kinematic control, and that there is a significant impact of PWM control on the trajectory accuracy.
