Kinematics Library for Controlling Automated Guided Vehicles

 

 

MOVIKIT® Custom 0005 Vehicle Kinematic Control

The software module serves for the implementation of vectorial speeds from a navigation controller, a track guidance sensor, or a remote control in wheel speeds. Mechanical and project-specific conditions of the vehicle are taken into account for this.

A distinction is made between bidirectional and omnidirectional travel:

Bidirectional driving

Omnidirectional driving

Powertrain

  • Differential
  • Single turntable drive

Powertrain

  • Double turntable drive

Driving maneuver

  • Forward/backward travel
  • Curve mode
  • Turning on the spot

Driving maneuver

  • Travel in any direction in the area
  • Turning on the spot

The software module supports various drive systems. The appropriate function block from the library must be used for each drive system. The number of pivot points at which the drive system is used determines the number of instances of the function block.

The license is valid for one instance. The number of licenses that corresponds to the number of pivot points in the vehicle is required.

Functions
  • Conversion of vectorial speeds to motor speeds
    • Calculation from the setpoints for travel speed, direction of travel and rotational speed of the vehicle into the setpoint speed (speed) of the individual travel motors
    • Vehicles with different drive systems can be moved via a uniform interface.
  • Speed limits
    • Limitation of the vehicle speed taking into account user limits and the limits from the axis configuration of the involved axes
  • Limitation of acceleration/deceleration and jerk
    • Limitation of vehicle acceleration and jerk taking into account user limits and limits from the axis configuration of the involved axes
  • Checking the work envelope of the steering axle (if available)
    • The permitted work envelope is continuously monitored during runtime.
  • Check for realignment and possibly alignment of the steering axis (if available)
    • The permitted setpoint/actual deviation of the steering axis is monitored and a realignment is initiated if necessary.
  • Output of the vehicle odometry

Further information: "MOVIKIT® Custom 0005 Vehicle Kinematic Control" manual