Design and Motion Control of Four-wheel Automotive Chassis Inspection Robot

Authors

Jue Zhu, 1. Faculty of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, China; ;
Yongbin Huang, 1. Faculty of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, China; ;
Zhang He, 2. Heilongjiang Institute of Technology, Harbin 150050, China;

Abstract

Abstract: The system structure of an automobile chassis inspection robot was introduced. Furthermore the equation of motion state of robot was established and a decoupling controller was designed. The robot with omnidirectional wheel moving mechanism achieved the chassis image acquisition with wireless camera system and employed the active disturbance rejection controller for motion control. The robot has the characters of wide applicability, flexibility of platform movement, the stability of motion state, which can effectively compensate for the lack of traditional inspection methods, and a reasonable design in automobile chassis inspection is proved. The motion equation of state established for omnidirectional four-wheel mobile robot as well as disturbance rejection control method will have certain significance for other designs.

Recommended Citation

Zhu, Jue; Huang, Yongbin; and He, Zhang (2020) "Design and Motion Control of Four-wheel Automotive Chassis Inspection Robot," Journal of System Simulation: Vol. 27: Iss. 7, Article 20.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss7/20

First Page

1548

Revised Date

2014-06-12

DOI Link

https://doi.org/

Last Page

1555

CLC

TP242.3

Recommended Citation

Zhu Jue, Huang Yongbin, Zhang He. Design and Motion Control of Four-wheel Automotive Chassis Inspection Robot[J]. Journal of System Simulation, 2015, 27(7): 1548-1555.