Design of Controller and PWM-enabled DC Motor Simulation using Proteus 8 for Flipper Track Robot

摘要

The developed tracked mobile robot such as flipper track robot increases its ability and capability in overcoming more challenges in urban environment context and rough terrains. In addition, flippers are its support in dealing with this circumstances. The configuration of flipper tracked robots came from the extended version of conventional two-tracked mobile robot such as two and four-tracked robots. Then, the study aims to create a dedicated controller for the modified flipper track robot. Correspondingly, the target instruments, display and analog control are identified for adept monitoring of the robot status while doing its intended function. Afterwards, using Proteus 8 Professional simulation software, the Arduino UNO controller as main MCU, 16x2 LCD, analog joysticks in terms of analog resistors, and virtual terminal for serial print monitoring are attached and wired accurately. The nine speed level is established and paralleled to the required PWM output for the fine movement of flipper track robot and also the map function of Arduino IDE for degree manipulation of servo motor of two flipper arms. Finally, the results are shown in LCD which matches the established logical conditions of nine speed level as well as the status movement of the flipper track robot. The functionality and feasibility of the controller is verified and exhibited.