Attitude stability control system of mobile robot mechanism based on nanosensor

Abstract

Aiming at the poor stability of attitude control of mobile robot mechanism, a kind of attitude stability control system of mobile robot mechanism based on nanodisplacement sensor is designed. In the hardware part, a hydraulic drive is used to control the action posture of the mobile robot, a nanodisplacement sensor is used to collect the walking data of the robot, and serial communication of the upper computer is used to convert the data into electrical signals to realise the robot posture control. In the software part, the mathematical coordinate system of robot walking is constructed, and the rotating posture of the robot is controlled by the Euler angle. The experimental results show that the control performance of the designed system is stable and the control precision is high, which can realise the attitude stabilisation control of the mobile robot.

KEYWORDS:

• Nanosensor
• mobile robot
• attitude control
• nanopositioning system

Disclosure statement

No potential conflict of interest was reported by the authors.

Data availability

All data generated or analysed during this study are included in the manuscript.

Code availability

Not applicable.

Author’s contributions

Dongfang Song, Hong Ji, and Guanfei Yin contributed to the design and methodology of this study, the assessment of the outcomes, and the writing of the manuscript.

Additional information

Funding

This study was supported by the Research and Practice of School-Enterprise Cooperative Education Model of Automobile Body Maintenance Technology Based on productive training base (No. 2019JZ016);Henan Provincial Central Guiding local science and technology development fund support project in 2022-Application and promotion of unmanned plant protection vehicle technology based on intelligent network.

Notes on contributors

Dongfang Song

Dongfang Song, associate professor, master candidate, graduated from Henan University of Science and Technology, majoring in vehicle Engineering. At present, he is mainly engaged in the research of automobile intelligent network technology.

Hong Ji

Hong Ji, associate professor, master candidate, graduated from Henan University of Science and Technology, majoring in vehicle engineering and intelligent network technology research.

Guanfei Yin

Guanfei Yin, lecturer, Master Degree Candidate, graduated from Henan University of Science and Technology, majoring in vehicle engineering, now engaged in vehicle technology research.