In this paper, the implementation and tuning steps of the PID controllers were proposed for the position control of a mobile robot with differential steering. The purpose of this robot was the participation in a European amateur robotics contest, the mobile robot being developed in the Engineering Faculty of Sibiu, Department of Industrial Machines and Equipment. After a brief introduction of the mobile entertainment robot, followed by description of the robot’s different components and traction principles, several principles of tuning the PID controller for the mobile robot are presented. The paper ends with some general conclusions based upon the results obtained from studying the research and considering all the ideas that were introduced.

Mobile robots are increasingly used in industrial applications. There are many constructive solutions for mobile robots using various variants of actuation and control. The proposed work presents a low-cost variant of a mobile robot equipped with Mecanum wheels, which uses brushed DC motors, controlled by the PWM method as the actuation solution. In the first part, a multicriteria analysis based on the AHP method was performed for the selection of the actuation solution. Then, using the software tools Simscape Multibody, Matlab, and Simulink, models were developed that allowed the simulation of the operation of the proposed robot, based both on its kinematics and dynamics. Using these models, both the Mecanum wheel drive version and the differential drive version were studied by means of simulation. The simulations mainly aimed at identifying the way the currents vary through the wheel drive motors, in order to find methods to reduce them. The values obtained by the simulation were later compared with those obtained experimentally, and the corresponding conclusions with regard to the accuracy of the models were drawn.

To achieve a 3D shape with certain degree of complexity from metal sheets that are flat in the beginning, especially for prototype development or small series production, that is also cost efficient by avoiding high-end dies or expensive tooling, the incremental sheet forming process can represent the ideal choice due to its flexibility, reduced forming forces and increased formability. The process is performed with a round tool that follows a predefined path to deform the flat metal sheet into its final shape. The proper selection of the toolpaths affects the productivity and the accuracy of each part. The process having to focus on forming each single point in increments. For cost-effective production, the incremental sheet forming process is performed by an industrial robot. This paper aims to showcase the superior kinematic potential of the robot for complex tool paths by means of simulation. Singularity issues and robot joints limitation is checked through DELMIA software platform. After the design, simulation, and generation of the tool path, the software code can be generated and also used to steer the robot.

The approach of this paper was to analyze the technical borders of industrial robots and to provide an overview of current technology, technical constraints and the potential types of future research suggestion concerning robotic machining. These complex automation machines used in manufacturing processes are an emerging chapter of industrial engineering that contribute to automatically performing operation in subtractive manufacturing and sheet metal forming processes. Compared with CNC machines which have shape limitations and have the restricted working area, the industrial robot is a flexible, cost-saving alternative.

Robot manufacturing involves continuous path control, which is now available for both robotic controllers and CAM software packages. However, CAM solutions are focused on generating the code for the robotic structure to follow the toolpath, without taking into consideration the dynamics and energy consumption. In this study, robot incremental forming was considered as the manufacturing process, and a simulation model, based upon Matlab-Simulink Simscape Multibody technology, was developed. The proposed model was fed with the trajectory information generated by the CAM program, and using an inverse kinematics function, it was able to generate the commands to drive the robotic structure on the technological toolpaths. The model was also used to study the dynamic behavior of the robot; external experimental data from a 3D force sensor were fed to the model to include the influence of the technological forces which appeared during the incremental forming process. Thus, using the proposed model in conjunction with the external CAM software, the influence of the workpiece position upon the joint torques could be estimated, opening the way for future optimization. The shortcomings of the model, mainly involving inaccurate information with regard to the physical properties of the robotic structure, were addressed by subtracting the dry-run joint torques from those obtained from the technological process.

This scientific paper presents the development and validation process of a dynamic model in Simulink used for decision-making regarding the locomotion and driving type of autonomous omnidirectional mobile platforms. Unlike traditional approaches relying on differential equations, this study uses Simulink’s block-based diagrams, offering a simpler and efficient development process. Importantly, the dynamic model accounts for friction forces, a critical factor for energy monitoring. The model’s validation is conducted experimentally, ensuring its accuracy and reliability. This paper formulates mathematical models for both conventional and Mecanum wheel configurations, facilitating energy-efficient driving strategies. By decomposing resistive forces into inertial and frictional components using the Jacobian matrix, this study accurately simulates electrical current consumption during robot motion. Through fuzzy decision algorithms utilizing parameters such as energy consumption, travel time, precision, and desired maneuverability, this paper proposes a method for determining the optimal locomotion mode for mobile platforms with Mecanum wheels. Overall, this research brings a new contribution to the field of mobile robotics by providing a comprehensive framework for dynamic modeling and it offers the possibility to drive omnidirectional robots in an energy-efficient manner.