Dynamic modeling and stability optimization of a redundant mobile robot using a genetic algorithm

Robotica ◽  
2011 ◽  
Vol 30 (3) ◽  
pp. 505-514 ◽  
Author(s):  
M. Mosadeghzad ◽  
D. Naderi ◽  
S. Ganjefar
Keyword(s):  
Genetic Algorithm ◽  
Mobile Robot ◽  
Center Of Mass ◽  
Nonlinear Controller ◽  
End Effector ◽  
Motion Equations ◽  
Stability Measure ◽  
Maximum Stability ◽  
Optimal Reconfiguration ◽  
Angle Stability

SUMMARYKinematic reconfigurable mobile robots have the ability to change their structure to increase stability and decrease the probability of tipping over on rough terrain. If stability increases without decreasing center of mass height, the robot can pass more easily through bushes and rocky terrain. In this paper, an improved sample return rover is presented. The vehicle has a redundant rolling degree of freedom. A genetic algorithm utilizes this redundancy to optimize stability. Parametric motion equations of the robot were derived by considering Iterative Kane and Lagrange's dynamic equations. In this research, an optimal reconfiguration strategy for an improved SRR mobile robot in terms of the Force–Angle stability measure was designed using a genetic algorithm. A path-tracking nonlinear controller, which maintains the robot's maximum stability, was designed and simulated in MATLAB. In the simulation, the vehicle and end-effector paths and the terrain are predefined and the vehicle has constant velocity. The controller was found to successfully keep the end-effector to the desired path and maintained optimal stability. The robot was simulated using ADAMS for optimization evaluation.

Stability Measures and Criteria for Autonomous Mobile Robotic Platforms: Analysis, Comparison and Numerical Evaluation

2019 ◽  
Author(s):  
Kaveh Nazem Tahmasebi ◽  
Roberto Belotti ◽  
Renato Vidoni ◽  
Karl Von Ellenrieder
Keyword(s):  
Mobile Robot ◽  
Center Of Mass ◽  
Stability Margin ◽  
Base Surface ◽  
Point Energy ◽  
Stability Margins ◽  
Stability Measure ◽  
Mass Moment ◽  
Angle Stability ◽  
The Stability

Abstract The tip-over instability of an autonomous mobile robot is a significant problem as it can diminish its maneuverability and increase the possibility of damaging the robot and its surrounding environment. For these reasons, it is important to define the stability margin and predict the edge of the tip-over instability considering different robot specifications and environmental conditions. Different stability measures have been developed to evaluate and analyze robot stability margins for diverse conditions. In this work, the Zero Moment Point, Energy Stability Margin, Force-Angle Stability Measure, and Mass-Moment Height Stability Measure methods are considered and applied to different mobile robot architectures including three-wheeled, four-wheeled (with rectangular and trapezoidal base surface) and articulated systems. The stability margins are discussed considering the four different stability criteria and evaluating the effect of a sloped surface. Then, the sensitivity of the tip-over instability in relation to the variation of the center of mass height as an important robot configuration parameter is evaluated. Finally, after a theoretical extension of the Force-Angle Stability and Mass-Moment Height stability measurement methods, the articulated mobile robot’s stability margin is considered and evaluated.

Tip over Stability Analysis of a Three-Wheeled Mobile Robot Capable of Traversing Uneven Terrains without Slip

2011 ◽  
Vol 110-116 ◽  
pp. 2940-2947 ◽  
Author(s):  
Tharakeshwar Appala ◽  
Ashitava Ghosal
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Free Motion ◽  
Lateral Tilt ◽  
Uneven Terrain ◽  
Stability Measure ◽  
Angle Stability ◽  
The Stability ◽  
Measure Technique

A mobile robot traversing an uneven terrain can undergo tip over instability when one or more wheels of the mobile robot losses contact with the uneven terrain. In this paper, we study the tip over stability of a three wheeled mobile robot. The three wheeled mobile robot studied in this paper has torus shaped rear wheels and have the ability of lateral tilting – a condition required for slip free motion on uneven terrain. The torus shaped wheels and slip free motion makes the dynamics and tip over stability analysis more difficult and interesting. In this paper, the force-angle stability measure technique is used to analyze and detect tip over instability. Simulation results of the stability analysis shows that the wheeled mobile robot with lateral tilt of rear wheels is capable of moving on certain kinds of rough terrains without tip over.

Autonomous mobile robot platform with multi-variant task-specific end-effector and voice activation

2016 ◽  
Author(s):  
Jonathan Tapia ◽  
Eric Wineman ◽  
Patrick Benavidez ◽  
Aldo Jaimes ◽  
Ethan Cobb ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Autonomous Mobile Robot ◽  
End Effector ◽  
Robot Platform

scholarly journals DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT

2016 ◽  
Vol 9 (2) ◽  
pp. 70 ◽  
Author(s):  
Osama Elshazly ◽  
Hossam Abbas ◽  
Zakarya Zyada
Keyword(s):  
Mobile Robot ◽  
Inverse Dynamics ◽  
Linear Quadratic Regulator ◽  
Nonlinear Controller ◽  
Linear Quadratic ◽  
Reduced Order ◽  
Lqr Control ◽  
Control Schemes ◽  
Skid Steering ◽  
Drive Model

In this paper, development of a reduced order, augmented dynamics-drive model that combines both the dynamics and drive subsystems of the skid steering mobile robot (SSMR) is presented. A Linear Quadratic Regulator (LQR) control algorithm with feed-forward compensation of the disturbances part included in the reduced order augmented dynamics-drive model is designed. The proposed controller has many advantages such as its simplicity in terms of design and implementation in comparison with complex nonlinear control schemes that are usually designed for this system. Moreover, the good performance is also provided by the controller for the SSMR comparable with a nonlinear controller based on the inverse dynamics which depends on the availability of an accurate model describing the system. Simulation results illustrate the effectiveness and enhancement provided by the proposed controller.

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