Stability analysis of a tracked mobile robot in climbing stairs process

2012 ◽  
Author(s):  
Weidong Wang ◽  
Dongmei Wu ◽  
Qibin Wang ◽  
Zongquan Deng ◽  
Zhijiang Du
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Tracked Mobile Robot ◽  
Climbing Stairs

Dynamic stability analysis of a tracked mobile robot based on human–robot interaction

2019 ◽  
Vol 40 (1) ◽  
pp. 143-154
Author(s):  
Chengguo Zong ◽  
Zhijian Ji ◽  
Haisheng Yu
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Dynamic Stability ◽  
Stability Criterion ◽  
Human Robot Interaction ◽  
Theoretical Principle ◽  
Robot Interaction ◽  
Content Type ◽  
Tracked Mobile Robot ◽  
Climbing Stairs

Purpose This paper aims to provide a theoretical principle for the stability control of robot climbing stairs, autonomously based on human–robot interaction. Through this research, tracked mobile robots with human-robot interaction will be extensively used in rescue in disaster, exploration on planetary, fighting in battle, and searching for survivors in collapsed buildings. Design/methodology/approach This paper introduces the tracked mobile robot, based on human–robot interaction, and its six moving postures. The dynamic process of climbing stairs is analyzed, and the dynamic model of the robot is proposed. The dynamic stability criterion is derived when the tracked mobile robot contacts the stairs steps in one, two and more points. A further conduction of simulation on the relationship of the traction force and bearing force vs the velocity and acceleration in the three cases was carried out. Findings This paper explains that the tracked mobile robot, based on human–robot interaction, can stably climb stairs so long as the velocity and acceleration satisfy the dynamic stability criterion as noted above. In addition, the experiment tests the correctness of dynamic stability analysis when the tracked mobile robot contacts the stair steps in one, two or more points. Originality/value This paper provides the mechanical structure and working principle of the tracked mobile robot based on human–robot interaction and proposes an identification method of dynamic stability criterion when the robot contacts the stairs steps in one, two and more points.

scholarly journals Dynamics and stability analysis on stairs climbing of wheel–track mobile robot

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141772078 ◽  
Author(s):  
Xueshan Gao ◽  
Dengqi Cui ◽  
Wenzeng Guo ◽  
Yu Mu ◽  
Bin Li
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Theoretical Basis ◽  
Classical Mechanics ◽  
General Introduction ◽  
And Control ◽  
Climbing Stairs ◽  
Wheel Track

A transformable wheel–track robot with the tail rod whose winding will coordinate the center of gravity of the robot is researched, and a theoretical basis for the stable climbing of the robot is provided. After a general introduction of the research, firstly the mechanical hardware and control hardware composition of the wheel–track robot is provided and the principles of its mechanical structure are illustrated. Secondly, through studying the fundamental constrains during the process of the robot climbing the obstacles, a mathematical model based on classical mechanics method is built to help analyze the dynamic principles of a wheel–track mobile robot climbing stairs. Thirdly, the dynamic stability analysis is carried out by analyzing not only the interaction among forces of track, track edge, and stair step but also the different stabilities of the robot when the track and the stairs have different touch points. Finally, an experiment of the modeling track robot climbing the stairs has convinced the effectiveness of the dynamic theories researched, which will be a beneficial reference for the future mobile robots obstacle climbing studies.

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 Delayed Trilateral Teleoperation of a Mobile Robot

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
D. Santiago ◽  
E. Slawiñski ◽  
V. Mut
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Shared Environment ◽  
Time Varying ◽  
Control Parameters ◽  
Simple Test ◽  
Control Loop ◽  
Teleoperation System ◽  
Human Operators ◽  
The Stability

This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P+d controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.

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