We developed an efficient real_time locomotion control system for mobile robots.
A new mobile robot system is designed and implemented. To control mobile robots, two stage control is utilized. A computed_torque PD control algorigthm is used for global locomotion control, and a simple new algorithm - dead_beat current control is proposed for motor control. The general motor current control methods need some additional hardwares like as A/D converter and have to wait for the conversion time. The dead_beat current control method performs the fast current control only by simple software calculations without such additional hardwares.
In addition, a position error correction system is implemented using gyro. The errors caused by slip are corrected, with gyro nonlinearity compensation.
The results of simulations and experiments are described to show the validity of the proposed dead_beat current control and the slip correction by gyro.
