Simultaneous identification and control of a hybrid dynamic model for a mobile robot

2002 ◽  
Author(s):  
D.J. Austin
Keyword(s):  
Mobile Robot ◽  
Dynamic Model ◽  
And Control ◽  
Simultaneous Identification

scholarly journals Dynamics and Control of a Planar Multibody Mobile Robot for Confined Environment Inspection

2014 ◽  
Vol 10 (1) ◽  
Author(s):  
Lounis Douadi ◽  
Davide Spinello ◽  
Wail Gueaieb
Keyword(s):  
Mobile Robot ◽  
Dynamic Model ◽  
Path Following ◽  
Sensor Performance ◽  
Lagrange Formulation ◽  
Revolute Joints ◽  
Mobile Vehicle ◽  
Dynamics And Control ◽  
Confined Environment ◽  
And Control

In this paper, we study the dynamics of an articulated planar mobile robot for confined environment exploration. The mobile vehicle is composed of n identical modules hitched together with passive revolute joints. Each module has the structure of a four-bar parallel mechanism on a mobile platform. The dynamic model is derived using Lagrange formulation. Computer simulations illustrate the model by addressing a path following problem inside a pipe. The dynamic model presented in this paper is the basis for the design of motion control algorithms that encode energy optimization and sensor performance maximization.

DEVELOPMENT OF COMPUTERIZED MONITORING AND CONTROL SYSTEM OF THE MOBILE ROBOT’S POSITIONING ON LARGE FERROMAGNETIC SURFACES BASED ON INTELLIGENT TECHNIQUES. AUTOMATION OF THE MONITORING AND CONTROL PROCESSES OF MOBILE ROBOT FOR PROCESSING OF LARGE INCLINED SURFACES

2019 ◽  
pp. 41-48
Author(s):  
Yan Guojun ◽  
Oleksiy Kozlov ◽  
Oleksandr Gerasin ◽  
Galyna Kondratenko
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Functional Structure ◽  
Monitoring And Control ◽  
Technological Parameters ◽  
Monitoring And Control System ◽  
Inclined Surfaces ◽  
Computerized Monitoring ◽  
And Control ◽  
Tracked Mobile Robot

The article renders the special features of the design of a tracked mobile robot (MR) for moving over inclined ferromagnetic surfaces while performing specified technological operations. There is conducted a synthesis of the functional structure and selective technological parameters (such as control coordinates) of the computerized monitoring and control system (CMCS) intended for use with this MR. Application of the CMCS with the proposed functional structure allows substantially increasing the accuracy of the MR monitoring and control, which in turn provides for a considerable enhancement in the quality and economic efficiency of the operations on processing of large ferromagnetic surfaces.

scholarly journals Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

Drones ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 71
Author(s):  
Luz M. Sanchez-Rivera ◽  
Rogelio Lozano ◽  
Alfredo Arias-Montano
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Test Bench ◽  
Aerodynamic Coefficients ◽  
Nonlinear Dynamic Model ◽  
Modeling And Control ◽  
Drag And Lift ◽  
And Control ◽  
Dynamics Method ◽  
Indoor And Outdoor

Hybrid Unmanned Aerial Vehicles (H-UAVs) are currently a very interesting field of research in the modern scientific community due to their ability to perform Vertical Take-Off and Landing (VTOL) and Conventional Take-Off and Landing (CTOL). This paper focuses on the Dual Tilt-wing UAV, a vehicle capable of performing both flight modes (VTOL and CTOL). The UAV complete dynamic model is obtained using the Newton–Euler formulation, which includes aerodynamic effects, as the drag and lift forces of the wings, which are a function of airstream generated by the rotors, the cruise speed, tilt-wing angle and angle of attack. The airstream velocity generated by the rotors is studied in a test bench. The projected area on the UAV wing that is affected by the airstream generated by the rotors is specified and 3D aerodynamic analysis is performed for this region. In addition, aerodynamic coefficients of the UAV in VTOL mode are calculated by using Computational Fluid Dynamics method (CFD) and are embedded into the nonlinear dynamic model. To validate the complete dynamic model, PD controllers are adopted for altitude and attitude control of the vehicle in VTOL mode, the controllers are simulated and implemented in the vehicle for indoor and outdoor flight experiments.

Study and Implement on Key Technologies of Ship-Welding Mobile Robot

2010 ◽  
Vol 44-47 ◽  
pp. 321-325
Author(s):  
Liang Hua ◽  
Lin Lin Lv ◽  
Ju Ping Gu ◽  
Yu Jian Qiang
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Structure Design ◽  
Seam Tracking ◽  
Precision Positioning ◽  
Positioning Control ◽  
Controlling System ◽  
Welding Torch ◽  
Driven System ◽  
And Control

The key technilogies of ship-welding mobile robot applied to ship-building in plane block production line were researched and realized. The mechanical structure design of the robot was completed. The motion-controlling system of of two-wheel differential driving mobile robot was developed. A novel precision positioning control method of welding torch using ultrasonic motors was putforward. The mechanism and control-driven system of precision positioning system for welding torch were completed. The platform of obstacle avoidance navigation system was designed and the strategies of seam tracking, trajectory and posture adjustment were preliminary studied. The methods and results put forward in the paper could act as the base of deep research on the theories and technologies of ship-welding mobile robot.

Center of gravity estimation and control for a field mobile robot with a heavy manipulator

2009 ◽  
Author(s):  
Jesus Morales ◽  
Jorge L. Martinez ◽  
Anthony Mandow ◽  
Javier Seron ◽  
Alfonso Garcia-Cerezo ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Center Of Gravity ◽  
Estimation And Control ◽  
And Control ◽  
Gravity Estimation
Sign in / Sign up

Export Citation Format

Share Document