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o
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o
t
u
n
d
er
r
ea
l
w
o
r
ld
co
n
d
itio
n
s
,
f
o
r
in
s
ta
n
ce
,
th
e
v
ar
iatio
n
s
in
s
u
r
f
ac
e
f
r
ict
io
n
an
d
ex
ter
n
al
in
ter
f
er
en
ce
s
,
is
s
till
i
m
m
en
s
el
y
li
m
ited
.
T
h
is
r
esear
c
h
ai
m
s
t
o
d
ev
elo
p
an
d
v
alid
ate
t
h
e
co
n
tr
o
l
s
y
s
te
m
f
o
r
h
ea
d
in
g
s
tab
ilizatio
n
o
n
th
e
m
ec
an
u
m
r
o
b
o
t
w
i
th
t
h
e
u
til
i
za
tio
n
o
f
KF
f
o
r
h
ea
d
in
g
esti
m
atio
n
a
n
d
g
y
r
o
s
co
p
e
b
ias
as
w
el
l
as
SMC
f
o
r
h
ea
d
in
g
co
n
tr
o
ller
,
w
h
ic
h
is
i
m
p
le
m
e
n
ted
o
n
a
lo
w
-
co
s
t e
m
b
ed
d
ed
p
latf
o
r
m
.
Me
ca
n
u
m
w
h
ee
l
m
o
b
ile
r
o
b
o
t
s
h
av
e
g
a
in
ed
s
i
g
n
i
f
ica
n
t
atte
n
tio
n
in
in
d
u
s
tr
ial
au
to
m
atio
n
d
u
e
to
th
eir
o
m
n
id
ir
ec
tio
n
al
m
o
b
ilit
y
ca
p
ab
ilit
ies
[
9
]
-
[
1
1
]
.
Un
lik
e
co
n
v
e
n
tio
n
al
d
i
f
f
er
en
tial
-
d
r
iv
e
r
o
b
o
ts
,
th
ese
p
lat
f
o
r
m
s
ca
n
m
o
v
e
i
n
an
y
d
ir
ec
tio
n
w
it
h
o
u
t
r
eo
r
ien
tat
io
n
,
m
ak
i
n
g
t
h
e
m
p
ar
ticu
lar
l
y
s
u
itab
le
f
o
r
co
n
f
i
n
ed
an
d
d
y
n
a
m
ic
en
v
ir
o
n
m
e
n
t
s
[
1
2
]
-
[
1
4
]
.
Ho
w
ev
er
,
th
eir
m
ec
h
a
n
ical
co
m
p
l
ex
it
y
i
n
tr
o
d
u
ce
s
ch
a
llen
g
e
s
in
ac
h
ie
v
in
g
p
r
ec
is
e
h
ea
d
in
g
co
n
tr
o
l,
esp
ec
iall
y
w
it
h
w
h
ee
l
s
lip
p
ag
e,
u
n
e
v
en
s
u
r
f
ac
e
f
r
ictio
n
,
an
d
e
x
ter
n
al
d
is
tu
r
b
an
ce
s
[
1
5
]
-
[
1
7
]
.
Hea
d
in
g
s
tab
ilizatio
n
is
f
u
n
d
a
m
e
n
tal
f
o
r
au
to
n
o
m
o
u
s
n
av
i
g
atio
n
s
y
s
te
m
s
,
d
ir
ec
tl
y
af
f
ec
tin
g
tr
aj
ec
to
r
y
tr
ac
k
in
g
ac
c
u
r
ac
y
[
1
8
]
-
[
2
2
]
.
W
h
ile
p
r
o
p
o
r
tio
n
al
–
in
te
g
r
al
–
d
er
iv
ativ
e
(
P
I
D)
co
n
tr
o
ller
s
ar
e
w
id
el
y
u
s
ed
,
th
e
y
e
x
h
ib
it
s
e
n
s
iti
v
it
y
t
o
p
ar
am
eter
v
ar
iatio
n
s
an
d
d
is
tu
r
b
an
ce
s
[
2
3
]
-
[
2
5
]
.
A
d
v
an
ce
d
co
n
tr
o
l
s
tr
ateg
ies,
f
o
r
in
s
ta
n
ce
,
SMC
o
f
f
er
s
r
o
b
u
s
t
n
es
s
ag
ai
n
s
t
u
n
ce
r
tain
t
ies
b
u
t
s
u
f
f
er
f
r
o
m
c
h
atter
in
g
p
h
en
o
m
e
n
a
[
2
6
]
-
[
3
0
]
.
T
h
e
b
o
u
n
d
ar
y
la
y
er
tech
n
iq
u
e
m
iti
g
ates
c
h
atter
i
n
g
b
y
r
ep
lacin
g
d
is
co
n
ti
n
u
o
u
s
s
w
itc
h
i
n
g
w
it
h
co
n
ti
n
u
o
u
s
ap
p
r
o
x
im
a
tio
n
.
A
cc
u
r
ate
s
tate
e
s
ti
m
atio
n
is
c
r
u
cial
f
o
r
m
o
d
el
-
b
ased
co
n
tr
o
l
[
3
1
]
-
[
3
3
]
.
I
n
er
tial
m
ea
s
u
r
em
en
t
u
n
it
s
(
I
MU
s
)
p
r
o
v
id
e
an
g
u
lar
v
elo
cit
y
d
ata
b
u
t
ar
e
s
u
s
ce
p
tib
le
to
n
o
is
e
a
n
d
b
ias
d
r
if
t.
T
h
e
KF
o
f
f
er
s
o
p
ti
m
a
l
r
ec
u
r
s
iv
e
e
s
ti
m
atio
n
f
o
r
lin
ea
r
s
y
s
te
m
s
w
i
th
Ga
u
s
s
ia
n
n
o
is
e
[
3
4
]
,
[
3
5
]
.
A
t
w
o
-
s
tate
K
F
ca
n
s
i
m
u
ltan
eo
u
s
l
y
esti
m
ate
h
ea
d
i
n
g
a
n
g
le
an
d
g
y
r
o
s
co
p
e
b
ias,
co
m
p
en
s
ati
n
g
f
o
r
s
en
s
o
r
d
r
if
t [
3
6
]
,
[
3
7
]
.
R
ec
en
t
r
esear
ch
h
a
s
ex
p
lo
r
ed
v
ar
io
u
s
co
n
tr
o
l
ap
p
r
o
ac
h
es
f
o
r
m
ec
a
n
u
m
-
w
h
ee
l
r
o
b
o
ts
[
3
8
]
-
[
4
2
]
,
w
it
h
s
ev
er
al
s
t
u
d
ies
co
m
b
in
i
n
g
KF
an
d
SMC
f
o
r
m
o
b
ile
r
o
b
o
t
a
p
p
licati
o
n
s
[
4
3
]
-
[
5
0
]
.
Ho
w
ev
er
,
co
m
p
r
eh
e
n
s
i
v
e
ex
p
er
i
m
e
n
tal
v
alid
atio
n
u
n
d
e
r
v
ar
y
i
n
g
s
u
r
f
ac
e
co
n
d
itio
n
s
an
d
ex
ter
n
al
d
is
tu
r
b
an
ce
s
r
e
m
ai
n
s
l
i
m
ited
.
T
h
is
s
tu
d
y
i
n
v
esti
g
ates
t
h
e
in
te
g
r
a
tio
n
o
f
KF
an
d
SMC
f
o
r
h
ea
d
in
g
s
tab
ilizat
io
n
o
f
a
m
ec
a
n
u
m
-
w
h
ee
l
m
o
b
ile
r
o
b
o
t.
T
h
e
m
a
in
co
n
tr
ib
u
tio
n
s
o
f
t
h
is
p
ap
er
ar
e
d
ev
elo
p
m
e
n
t
o
f
a
m
a
th
e
m
atica
l
m
o
d
el
f
o
r
h
ea
d
in
g
d
y
n
a
m
ics
in
co
r
p
o
r
atin
g
w
h
ee
l
k
i
n
e
m
a
tics
a
n
d
d
is
t
u
r
b
an
ce
e
f
f
ec
ts
,
d
esi
g
n
an
d
i
m
p
le
m
en
ta
tio
n
o
f
a
t
w
o
-
s
tate
KF
f
o
r
r
ea
l
-
ti
m
e
h
ea
d
in
g
an
d
b
ias
esti
m
a
tio
n
,
ex
p
er
i
m
e
n
tal
v
alid
at
io
n
o
f
th
e
p
r
o
p
o
s
e
d
KF
-
SMC
u
n
d
er
v
ar
io
u
s
o
p
er
atin
g
co
n
d
itio
n
s
,
d
em
o
n
s
tr
ati
n
g
s
i
g
n
if
ican
t i
m
p
r
o
v
e
m
e
n
ts
o
v
er
co
n
v
e
n
tio
n
al
ap
p
r
o
ac
h
es.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
Sy
s
t
em
o
v
er
v
iew
T
h
e
s
y
s
te
m
u
t
ilizes
I
C
M2
0
9
4
8
I
MU
as
a
s
en
s
o
r
,
a
R
asp
b
e
r
r
y
P
i
3
B
as
th
e
m
ai
n
p
r
o
ce
s
s
o
r
an
d
4
p
iece
s
o
f
d
ir
ec
t
cu
r
r
en
t
(
DC
)
m
o
to
r
f
o
r
ac
tu
ato
r
as
s
h
o
w
n
in
t
h
e
Fi
g
u
r
e
1
,
w
it
h
th
e
co
m
p
lete
h
ar
d
w
ar
e
s
p
ec
if
icatio
n
s
s
u
m
m
ar
ized
in
T
ab
le
1
.
T
h
e
KF
f
o
r
s
tate
e
s
ti
m
atio
n
a
n
d
a
SM
C
f
o
r
h
ea
d
in
g
r
e
g
u
la
tio
n
ar
e
e
m
b
ed
d
ed
at
m
ai
n
p
r
o
ce
s
o
r
.
T
h
e
I
MU
m
ea
s
u
r
e
s
th
e
r
o
b
o
t
’
s
a
n
g
u
lar
v
elo
cit
y
at
1
0
0
H
z
,
p
r
o
ce
s
s
ed
b
y
a
R
asp
b
er
r
y
P
i
3
B
.
A
t
w
o
-
s
tate
KF
esti
m
ates
h
ea
d
i
n
g
a
n
g
le
(
)
an
d
g
y
r
o
s
co
p
e
b
ias.
T
h
e
esti
m
ated
h
ea
d
in
g
is
co
m
p
ar
ed
w
ith
t
h
e
tar
g
e
t
(
)
to
g
en
er
ate
er
r
o
r
f
o
r
th
e
SMC
.
T
h
e
SMC
co
m
p
u
te
s
co
n
tr
o
l
s
i
g
n
al
s
s
e
n
t
to
f
o
u
r
D
C
m
o
to
r
s
v
ia
P
W
M.
A
n
An
d
r
o
id
in
ter
f
ac
e
e
n
ab
les r
ea
l
-
ti
m
e
m
o
n
ito
r
i
n
g
a
n
d
p
ar
a
m
et
er
ad
j
u
s
t
m
en
t.
T
h
e
co
n
tr
o
l
lo
o
p
r
u
n
s
at
5
0
Hz
(
2
0
m
s
p
er
io
d
)
o
n
th
e
R
asp
b
er
r
y
P
i
3
B
.
A
clo
s
ed
-
lo
o
p
co
n
tr
o
l
s
y
s
te
m
u
s
ed
f
o
r
s
etti
n
g
t
h
e
m
ec
an
u
m
r
o
b
o
t
’
s
h
ea
d
in
g
,
is
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
T
ab
le
1
.
Har
d
w
ar
e
s
p
ec
if
ica
ti
o
n
s
o
f
t
h
e
m
ec
a
n
u
m
-
w
h
ee
l
m
o
b
ile
r
o
b
o
t
C
o
mp
o
n
e
n
t
S
p
e
c
i
f
i
c
a
t
i
o
n
P
r
o
c
e
sso
r
R
a
s
p
b
e
r
r
y
P
i
3
B
I
M
U
s
e
n
so
r
I
C
M
2
0
9
4
8
,
1
0
0
H
z
,
±
2
0
0
0
d
e
g
/
s
M
o
t
o
r
s
4
×
M
e
c
a
n
u
m
w
h
e
e
l
s a
n
d
D
C
mo
t
o
r
s
w
i
t
h
P
W
M
d
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v
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r
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P
o
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y
1
0
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0
0
mA
h
p
o
w
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r
b
a
n
k
+
7
.
4
V
L
i
-
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o
n
b
a
t
t
e
r
y
Evaluation Warning : The document was created with Spire.PDF for Python.
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4
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A
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26
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Fig
u
r
e
1
.
A
r
ch
itectu
r
al
s
y
s
te
m
o
f
m
ec
a
n
u
m
r
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b
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t
Fig
u
r
e
2.
C
lo
s
ed
-
lo
o
p
s
y
s
te
m
o
f
m
ec
a
n
u
m
r
o
b
o
t
2
.
2
.
Sy
s
t
em
m
o
delin
g
T
h
e
h
ea
d
in
g
d
y
n
a
m
ic
s
o
f
a
m
ec
an
u
m
-
w
h
ee
l
m
o
b
ile
r
o
b
o
t
ca
n
b
e
m
o
d
eled
as
a
s
ec
o
n
d
-
o
r
d
er
s
y
s
te
m
w
it
h
e
x
ter
n
a
l
d
is
t
u
r
b
an
ce
s
.
L
et
d
en
o
te
th
e
h
ea
d
i
n
g
a
n
g
le
o
f
th
e
r
o
b
o
t
w
it
h
r
esp
ec
t
to
a
g
lo
b
al
r
ef
er
en
c
e
f
r
a
m
e.
T
h
e
an
g
u
lar
v
e
lo
cit
y
ω
is
m
ea
s
u
r
ed
b
y
t
h
e
I
MU
.
T
h
e
s
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m
p
li
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ied
h
ea
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a
m
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cs
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n
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e
ex
p
r
ess
ed
as:
̇
=
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+
+
(
1
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̇
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(
2
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w
h
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r
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e
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t n
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h
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m
ea
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r
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en
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atio
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o
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th
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y
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w
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ia
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es
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it
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v
ar
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r
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ec
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Fo
r
co
n
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o
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t
h
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h
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er
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d
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m
ics ca
n
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e
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itten
a
s
:
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=
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w
it
h
=
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T
h
e
co
n
tr
o
l o
b
j
ec
tiv
e
is
to
d
r
iv
e
to
ze
r
o
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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L
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elec
o
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1399
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ate
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h
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tate
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h
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=
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g
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la
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h
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ates r
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ate
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ates
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S
M
C
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ig
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T
h
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ig
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s
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as
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ar
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at
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ate.
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la
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ts
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t c
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n
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ar
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eter
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s
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ted
as:
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5
,
=
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.
0
,
an
d
=
50
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
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K
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t
20
26
:
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1400
2
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5
.
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x
peri
m
ent
a
l
s
et
up
T
h
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
p
r
o
p
o
s
ed
KF
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SMC
s
y
s
te
m
is
ev
alu
ated
th
r
o
u
g
h
th
r
ee
e
x
p
er
i
m
e
n
tal
s
ce
n
ar
io
s
:
a.
Scen
ar
io
1
:
s
ettin
g
p
ar
a
m
eter
SMC
an
d
n
o
m
i
n
al
h
ea
d
in
g
s
tab
ilizatio
n
.
T
h
e
r
o
b
o
t
m
ai
n
tain
s
a
f
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x
ed
h
ea
d
in
g
o
n
a
s
m
o
o
th
tile
s
u
r
f
a
ce
w
it
h
o
u
t e
x
ter
n
al
d
is
t
u
r
b
an
c
es.
b.
Scen
ar
io
2
:
h
ea
d
in
g
co
n
tr
o
l
o
n
v
ar
y
in
g
s
u
r
f
ac
es
.
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h
e
r
o
b
o
t
p
er
f
o
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m
s
h
ea
d
i
n
g
s
tab
ilizatio
n
o
n
d
if
f
er
en
t
s
u
r
f
ac
es: tile (
h
i
g
h
f
r
ictio
n
)
,
p
av
in
g
b
lo
ck
s
(
m
ed
iu
m
f
r
ictio
n
)
,
an
d
r
u
b
b
er
m
at
(
lo
w
f
r
ictio
n
)
.
c.
Scen
ar
io
3
:
d
is
tu
r
b
an
ce
r
ej
ec
tio
n
.
T
h
e
r
o
b
o
t
s
tab
ilizes
its
h
ea
d
in
g
w
h
ile
s
u
b
j
ec
ted
t
o
later
al
p
u
s
h
d
is
tu
r
b
an
ce
s
(
ap
p
r
o
x
i
m
atel
y
1
0
N)
ap
p
lied
m
a
n
u
all
y
.
T
h
e
co
n
tr
o
l
lo
o
p
r
u
n
s
at
5
0
Hz
o
n
th
e
R
a
s
p
b
er
r
y
P
i
3
B
.
Data
lo
g
g
i
n
g
in
cl
u
d
es
h
ea
d
in
g
an
g
le,
h
ea
d
i
n
g
er
r
o
r
,
co
n
tr
o
l sig
n
als,
a
n
d
s
en
s
o
r
r
ea
d
in
g
s
f
o
r
p
o
s
t
-
p
r
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ce
s
s
i
n
g
an
d
an
al
y
s
is
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
m
ec
an
u
m
r
o
b
o
t
u
s
ed
in
th
e
ex
p
er
i
m
e
n
t
is
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
T
h
e
s
en
s
o
r
is
p
lace
d
a
t
th
e
ce
n
ter
o
f
th
e
r
o
b
o
t
’
s
b
o
d
y
w
h
ich
i
s
also
its
ce
n
ter
o
f
r
o
tatio
n
.
T
h
e
s
en
s
o
r
I
C
M
2
0
9
4
8
is
in
s
talled
1
2
cm
a
w
a
y
f
r
o
m
th
e
r
o
b
o
t
’
s
b
o
d
y
a
n
d
m
o
u
n
te
d
u
s
in
g
a
p
o
l
y
lactic
ac
id
(
P
L
A
)
br
ac
k
et
to
av
o
id
n
o
is
e
co
m
i
n
g
f
r
o
m
eit
h
er
th
e
ac
tu
ato
r
o
r
elec
tr
ic
w
ir
in
g
o
n
th
e
r
o
b
o
t.
W
ith
th
e
co
n
f
i
g
u
r
at
io
n
th
at
h
as
b
ee
n
m
ad
e,
r
o
b
o
t
is
ab
le
to
p
er
f
o
r
m
th
e
h
o
lo
n
o
m
ic
m
o
v
e
m
e
n
ts
d
u
r
in
g
o
p
er
atio
n
.
Fig
u
r
e
3
.
Har
d
w
ar
e
r
ea
litatio
n
o
f
m
ec
a
n
u
m
r
o
b
o
t
3
.
1
.
H
ea
din
g
re
s
po
ns
e
co
m
p
a
riso
n f
o
r
f
iv
e
S
M
C
pa
r
a
m
e
t
er
t
un
ing
s
I
n
th
e
f
ir
s
t
ex
p
er
i
m
e
n
t,
SM
C
p
ar
am
e
ter
tu
n
in
g
is
ca
r
r
ied
o
u
t
b
y
ev
al
u
ati
n
g
th
e
r
o
b
o
t
’
s
h
ea
d
in
g
r
esp
o
n
s
e
ac
r
o
s
s
f
i
v
e
d
if
f
er
en
t
p
ar
am
eter
co
n
f
i
g
u
r
atio
n
s
.
T
h
ese
co
n
f
i
g
u
r
atio
n
s
co
v
er
v
ar
i
atio
n
s
i
n
s
w
itc
h
i
n
g
g
ain
(
)
,
s
lid
in
g
s
u
r
f
ac
e
s
lo
p
e
(
)
,
an
d
b
o
u
n
d
ar
y
la
y
er
t
h
ic
k
n
e
s
s
(
)
as
s
h
o
w
n
in
T
ab
le
2
.
T
h
e
p
u
r
p
o
s
e
o
f
th
i
s
tu
n
in
g
is
to
o
b
s
er
v
e
th
e
in
f
l
u
en
ce
o
f
ea
ch
p
ar
a
m
eter
o
n
co
n
v
er
g
e
n
ce
s
p
ee
d
,
o
v
er
s
h
o
o
t,
an
d
s
tead
y
-
s
ta
te
o
s
cillatio
n
,
an
d
to
d
eter
m
in
e
t
h
e
m
o
s
t
s
u
itab
le
s
e
tti
n
g
s
f
o
r
t
h
e
i
m
p
le
m
en
ta
tio
n
o
f
h
ea
d
in
g
s
tab
ilizatio
n
o
n
t
h
e
m
ec
an
u
m
r
o
b
o
t.
T
ab
le
2
.
P
er
f
o
r
m
a
n
ce
c
o
m
p
ar
i
s
o
n
5
SMC
p
ar
a
m
eter
t
u
n
in
g
s
P
a
r
a
me
t
e
r
R
M
S
e
r
r
o
r
C
h
a
t
t
e
r
i
n
g
=
5
.
0
,
=
2
.
0
,
=
20
.
0
90
.
48°
2
.
67°
=
5
.
0
,
λ
=
5
.
0
,
φ
=
70
.
0
27
.
84°
16
.
77°
=
10
.
0
,
=
3
.
5
,
=
50
.
0
24
.
52°
2
.
29°
=
10
.
0
,
=
2
.
0
,
=
70
.
0
31
.
16°
1
.
20°
=
15
.
0
,
=
3
.
5
,
=
50
.
0
43
.
56°
12
.
09°
F
ig
u
r
e
4
d
i
s
p
l
ay
s
th
e
h
e
a
d
i
n
g
r
e
s
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T
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ates
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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ased
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