Orbital and motion control of mobile robots

ORBİTAL AND MOTION CONTROL OF MOBILE ROBOTS Today, robots are started to take place in every aspect of our lives. In the coming years along with the development of artificial intelligence, otonom robot technology will become even more important. Developed countries are cared about robotics and organizing international robotics competitions. In order for our country to be in this technology, it is very important for our students to meet with robotics and programming at an early age. For this purpose, some of our schools organize robot competitions, and robotics are introduced to our students with STEM and MAKER activities. Furthermore, Teknofest project competition was organized in 2018 and a big event was held throughout the country. In this thesis study, which is formed considering the rapid development of robotic activities, orbital and motion control of mobile robots are examined. The kinematic and dynamic system models of the robots are explained, the types of control systems, feedback, control systems are described in the time frame and the PID controller is explained. In the thesis study, the mechanical, electronic and software components of the First Robotics Competition robot is explained and the robot's electronic and software system is given. The PID controller design is designed to move the elevator system and advance the robot in a straight orbit. Control parameters is determined by real time position and angle graphs. Also, the points to be considered in robot control design is explained. Keywords: Mobile Robot Components, Mobile Robot Design, PID Controller