PI and PID controllers in the mathematical modelling of mobile robots motion

L. V. Kolegova, K. A. Sutyrkina

Ulyanovsk State University, Russia

Abstract: The article describes software products developed based on the open mathematical package Scilab version 6.0.2, intended for modeling the controlled motion of a three-link robotic manipulator and a four-wheeled omnidirectional robot. The interface of the programs with existing interactive components is described, including screenshots illustrating the user interaction with the application at various stages.

Keywords: multi-link manipulator, mobile robotic manipulator, mobile platform, motion control, robust and adaptive control methods

UDC: 531.391.5

Received: 20.06.2024
Revised: 05.07.2024

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