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The Scientific World Journal
Volume 2013, Article ID 723645, 17 pages
http://dx.doi.org/10.1155/2013/723645
Research Article

Construction of a WMR for Trajectory Tracking Control: Experimental Results

1Instituto Politécnico Nacional, CIDETEC, Área de Mecatrónica, Unidad Profesional Adolfo López Mateos, 07700 México, DF, Mexico
2Instituto Politécnico Nacional, UPIICSA, Sección de Estudios de Posgrado e Investigación, 08400 México, DF, Mexico
3Benemérita Universidad Autónoma de Puebla, Facultad de Ciencias Físico Matemáticas, 72001 Puebla, PUE, Mexico
4Instituto Tecnológico de Culiacán, Departamento de Metal-Mecánica, 80220 Culiacán, SIN, Mexico
5Universidad Privada del Valle, Facultad de Informática y Electrónica, Tiquipaya, CBBA, Bolivia
6Centro Nacional de Actualización Docente, Área de Máquinas, 13420 México, DF, Mexico

Received 19 April 2013; Accepted 2 June 2013

Academic Editors: W. Chen and D. K. Liang Ou

Copyright © 2013 R. Silva-Ortigoza et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Supplementary Material

Supplementary Video 1 and Supplementary Video 2: Materials used for the prototype construction. These videos show how some parts of the WMR prototype were built. Different machine tools were employed for the construction.

Supplementary Video 3: This video shows different real views of the complete WMR prototype. These included the mechanical and electronic stages.

Supplementary Video 4: This video shows the real-time experiments associated with the case when the desired trajectory is defined by a parabola equation. The experiments results were obtained using ControlDesk and MATLAB/Simulink along with the DS1104 board from dSPACE.

  1. Supplementary Video 1
  2. Supplementary Video 2
  3. Supplementary Video 3
  4. Supplementary Video 4