With the increasing demand for digital upgrading and intelligent transformation of domestic enterprises, autonomous mobile robots have developed rapidly, and the application scope of AGV/AMR is also constantly expanding. Most of the autonomous mobile robots or guided vehicles commonly found on the market use two-wheel differential speed for motion control.
The two-wheel differential system is as follows:
- The controller and driver use RS232/RS485/CAN/SPI bus communication to achieve the linkage control function between the two axes;
- The controller trajectory planning adopts PVT/PT trajectory mode, which has higher control accuracy and better two-axis synchronization;
- The controller can realize two modes: position control and speed control. In position mode, the user directly specifies the forward coordinates, and the controller automatically plans the trajectory to reach the specified coordinates. The user can also specify the turning radius and arc to make turns during movement.
- In speed mode, the controller can perform speed compensation based on the actual speed of the two axes at each PVT/PT point, keeping the speed of the two axes consistent, thereby correcting deviations in the forward direction;
Extended applications:
The two-wheel differential is characterized by the fact that the two drives are networked via RS232/RS485/CAN/SPI bus and use PVT/PT control mode to achieve two-axis interpolation linkage. This feature can be used to extend it to other AGV/AMR related applications.
Summarize:
The two-wheel differential AGV is characterized by using PVT/PT trajectory planning to achieve two-axis interpolation, resulting in higher synchronization between the two axes and smooth, uninterrupted transitions between points. In speed mode, speed compensation is performed at each PVT/PT point based on the actual speed of the two axes, thereby correcting deviations in the forward direction.
