Pre-Processing based Approach for Smooth Motion Control of Robots Study

The smooth and stable motion control of mobile robotics crucial not only for enhancing control accuracy and facilitating mission completion,but also for reducing mechanical tearing and wearing.In this paper,based on a mobile robot platform,we present a novel approach to smooth and stable motion control,significantly reducing the motion chattering phenomena inherent with traditional method.The main idea behind the approach is to pre-process the speed commands to generate new,more favourable smooth movement for the actuation device,so as to effectively avoid the traditional jitter problem.With this idea,we establish a set of formula and algorithms for typical straight lines and curves motion patterns.Rigorist's analysis shows that the proposed method exhibits obvious benefits in reducing chattering as compared with traditional direct-command based method.Field experiment test demonstrates the effectiveness and simplicity of the proposed method.The results are deemed to be valuable for developing mobile robots with long-life and healthy operational capabilities.