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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
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Study of motion control system for auto-searching cutting mobile robot based on SOPC
CHEN Shen, GAO Chun-fu, JING Bao-de, LUO Zhi-yong, SHENG Meng-feng, CHEN Yuan-chao
(Engineering College, Zhejiang Normal University, Jinhua 321004, China)
Abstract: Aiming at the nonholonomic controlling of auto-searching cutting mobile robot with the motion law, the dynamic and kinematic models of mobile robot were established. A motion control system based on system on a programmable chip(SOPC) was designed, EP3C55 core was employed as the kernel of the robot motion controller, the fuzzy control strategy was adopted to control the motion of the cutting mobile robot. The effectiveness of the new design is testified by the experiment, which can meet the requirements of actual cutting engineering.
Key words: system on a programmable chip(SOPC); auto-searching; cutting mobile robot; motion control
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