KMITL

Permanent URI for this communityhttps://dspace.kmitl.ac.th/handle/123456789/1

Browse

Settings

Access type: UnknownSubject: search.filters.subject.motion control

Search Results

Now showing 1 - 4 of 4
  • Loading...
    Thumbnail Image
    Some of the metrics are blocked by your 
    consent settings
    Item type:Item,
    Integrated Analysis of Mapping, Path Planning, and Advanced Motion Control for Autonomous Robotic Navigation
    (2025-10-01)
    Bingi, Kishore
    ;
    Singh, Abhaya Pal
    ;
    Ibrahim, Rosdiazli
    ;
    Rajamallaiah, Anugula
    ;
    Shaik, Nagoor Basha
    Autonomous robotic navigation is essential in modern systems for revolutionising various industries that operate in both static and dynamic environments. To achieve this autonomous navigation, various conventional techniques that handle environment mapping, path planning, and motion control as individual modules often face challenges in addressing the complexities of autonomous navigation. Therefore, this paper presents an integrated technique that combines three essential components, such as environment mapping, path planning, and motion control, to enhance autonomous navigation performance. The first component, i.e., the mapping, utilises both binary and probabilistic occupancy maps to represent the environment. The second component is path planning, which incorporates various graph- and sampling-based algorithms such as PRM, A*, Hybrid A*, RRT, RRT*, and BiRRT, which are evaluated in terms of path length, computational time, and safety margin on various maps. The final component, i.e., motion control, utilises both conventional and advanced controller strategies such as PID, FOPID, SFC, and MPC, for better sinusoidal trajectory tracking. The four case studies for path planning and one case study on trajectory tracking on various occupancy maps demonstrated that the A* algorithm and MPC outperformed all the compared techniques in terms of optimal path length, computational time, safety margin, and trajectory tracking error. Thus, the proposed integrated approach reveals that the interplay between mapping fidelity, planning efficiency, and control robustness is vital for reliable autonomous navigation.
  • Loading...
    Thumbnail Image
    Some of the metrics are blocked by your 
    consent settings
    Item type:Item,
    Linear Interpolation Using Siemens S7-1200
    (2025-01-01)
    Maneerat, Noppadol
    ;
    Wongworrada, Tharathorn
    ;
    Cheypoca, Thepjit
    ;
    Sepsirisuk, Kasemsuk
    This research is a continuation of the research on circular interpolation use siemens s7-1200 [1] It presents the movement of 3 axes, $x y z$, as a method of moving in a curve that is controlled by programmable logic control (PLC). In the future research, PLC will be used to control linear movement straightly. The work will be in the original format, but change the equation used to move in a straight line instead.
  • Loading...
    Thumbnail Image
    Some of the metrics are blocked by your 
    consent settings
    Item type:Item,
    Apply PLC to Control 3-Axis Machines
    (2025-01-01)
    Cheypoca, Thepjit
    ;
    Thaiyai, In
    ;
    Maneerat, Noppadol
    ;
    Narkthewan, Athasart
    This report presents a method of using PLC (Programable Logic Control) to control the work instead of the 3-Axis machine position controller. PLC is popularly used in various types of control systems. It has a lot of control capabilities, is efficient, stable, durable, easy to use, and cheap. It is the use of commands to control the work of all 3 axes, 2 axes, and 1 axle. The commands used for moving in both straight lines and curves, and there are other devices that need to be controlled together with the machine that is being controlled.
  • Loading...
    Thumbnail Image
    Some of the metrics are blocked by your 
    consent settings
    Item type:Item,
    Circular Interpolation using Siemens S7-1200
    (2023-01-01)
    Cheypoca, Thepjit
    ;
    Luanpol, Amata
    ;
    Wuti, Virot
    This article proposes a way to control the movement of the step motor drive to control the movement of the 3 axes using a programmable logic controller (PLC) working instead of a numerical controller (NC). The workpiece can be milled the way it is needed, but the ability to control peripherals is limited, as it is a specific control system used to move the desired position. But the limitation of smaller PLC is that there is no order used to move directly as a curve, so a higher level of PLC is required, so smaller PLC are used to program curves with circular interpolation methods [1] to enable the use of curved motion.