New Factors of Reliability of Electric Furnaces for Vermiculite Firing with Mobile Base Plates

2021 ◽  
pp. 125-138
Author(s):  
Anatoliy Nizhegorodov ◽  
Aleksey Gavrilin ◽  
Boris Moyzes ◽  
Kirill Kuvshinov ◽  
Saule Sakipova
Keyword(s):  
Base Plates ◽  
Mobile Base

A novel recursive formulation for dynamic modeling and trajectory tracking control of multi-rigid-link robotic manipulators mounted on a mobile platform

2020 ◽  
pp. 095965182097390
Author(s):  
AM Shafei ◽  
H Mirzaeinejad
Keyword(s):  
Dynamic Modeling ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Robotic System ◽  
Mobile Platform ◽  
Reference Trajectory ◽  
Trajectory Tracking Control ◽  
Recursive Formulation ◽  
Mobile Base

This article establishes an innovative and general approach for the dynamic modeling and trajectory tracking control of a serial robotic manipulator with n-rigid links connected by revolute joints and mounted on an autonomous wheeled mobile platform. To this end, first the Gibbs–Appell formulation is applied to derive the motion equations of the mentioned robotic system in closed form. In fact, by using this dynamic method, one can eliminate the disadvantage of dealing with the Lagrange Multipliers that arise from nonholonomic system constraints. Then, based on a predictive control approach, a general recursive formulation is used to analytically obtain the kinematic control laws. This multivariable kinematic controller determines the desired values of linear and angular velocities for the mobile base and manipulator arms by minimizing a point-wise quadratic cost function for the predicted tracking errors between the current position and the reference trajectory of the system. Again, by relying on predictive control, the dynamic model of the system in state space form and the desired velocities obtained from the kinematic controller are exploited to find proper input control torques for the robotic mechanism in the presence of model uncertainties. Finally, a computer simulation is performed to demonstrate that the proposed algorithm can dynamically model and simultaneously control the trajectories of the mobile base and the end-effector of such a complicated and high-degree-of-freedom robotic system.

Closure to “Column Base Plates with Axial Loads and Moments”

1982 ◽  
Vol 108 (5) ◽  
pp. 1192-1192
Author(s):  
John T. DeWolf ◽  
Edward F. Sarisley
Keyword(s):  
Axial Loads ◽  
Base Plates ◽  
Column Base

Cooperation and Null-Space Control of Networked Omni-Directional Mobile Manipulators

2020 ◽  
Author(s):  
Michael John Chua ◽  
Yen-Chen Liu
Keyword(s):  
Degrees Of Freedom ◽  
Null Space ◽  
Kinematic Model ◽  
Mobile Manipulator ◽  
Main Task ◽  
Mobile Manipulators ◽  
Robot Arm ◽  
Task Space ◽  
End Effector ◽  
Mobile Base

Abstract This paper presents cooperation and null-space control for networked mobile manipulators with high degrees of freedom (DOFs). First, kinematic model and Euler-Lagrange dynamic model of the mobile manipulator, which has an articulated robot arm mounted on a mobile base with omni-directional wheels, have been presented. Then, the dynamic decoupling has been considered so that the task-space and the null-space can be controlled separately to accomplish different missions. The motion of the end-effector is controlled in the task-space, and the force control is implemented to make sure the cooperation of the mobile manipulators, as well as the transportation tasks. Also, the null-space control for the manipulator has been combined into the decoupling control. For the mobile base, it is controlled in the null-space to track the velocity of the end-effector, avoid other agents, avoid the obstacles, and move in a defined range based on the length of the manipulator without affecting the main task. Numerical simulations have been addressed to demonstrate the proposed methods.

Design and Full-Scale Testing of M50/P1 Bolt-Down Removeable Bollard System

2018 ◽  
Vol 2672 (41) ◽  
pp. 24-33
Author(s):  
William F. Williams
Keyword(s):  
Urban Areas ◽  
Full Scale ◽  
Shallow Foundations ◽  
Test Installation ◽  
Additional Information ◽  
Performance Requirements ◽  
Crash Testing ◽  
Design And Testing ◽  
Base Plates ◽  
Full Scale Testing

The purpose of this project was to design and test a new bolt-down bollard system that meets the requirements of American Standards for Testing Materials (ASTM) Designation F2656-15 M50/P1 impact conditions. The test installation consisted of three vertical 10-in. diameter (nominal) bollards with welded base plates bolted to a shallow reinforced concrete foundation. The foundation for this system was sized to reduce the foundation embedment. Shallow foundations are often necessary for use in cities and urban areas where utilities can conflict with deeper foundations. Standard common members and materials were used in the installation to accommodate fabrication and installation in locations all over the world. The bollards can be removed to provide access if necessary. Full-scale testing was performed on the bolt-down bollard system. The bollard system design for this project successfully met the requirements of M50/P1 with a total payload penetration of less than 1 m. The new bollard design successfully met all the performance requirements for ASTM F2656-15 M50/P1. Details of the design and testing of the bolt-down bollard system are provided in this paper. Crash-testing videos and additional information on the design and full-scale testing will be provided in the presentation.

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