Mechanical Design, Construction and Control of a Lower Extremity Exoskeleton Robot Prototype with a new structure in the form of three-wheeled Mobile robot

2017 ◽  
Author(s):  
Mohammad Reza Sajadi ◽  
Hossein Nejatbakhsh Esfahani
Keyword(s):  
Lower Extremity ◽  
Mobile Robot ◽  
Mechanical Design ◽  
Wheeled Mobile Robot ◽  
Exoskeleton Robot ◽  
And Control ◽  
Design Construction

Differential Flatness-Based Robust Control of a Two-Wheeled Mobile Robot in the Presence of Slip

2008 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Differential Flatness ◽  
Robust Controllers ◽  
Robust Controller ◽  
Planning And Control ◽  
Tracking Controllers ◽  
Simulation Results ◽  
And Control

In this paper, we present two robust trajectory-tracking controllers for a differentially driven two-wheeled mobile robot using its kinematic and dynamic model in the presence of slip. The structure of the differential flatness-based controller, which is an integrated framework for planning and control, is extended in this paper to account for slip disturbances by adding a corrective control term. Simulation results for both kinematic and dynamic controllers are presented to demonstrate the effectiveness of the robust controllers. Experiments with the kinematic controller were conducted to validate the performance of the robust controller. The simulation and experimental results show that the robust controllers are very effective in the presence of slip.

Design of a Sorting and Conveying Wheeled Mobile Robot

2014 ◽  
Vol 902 ◽  
pp. 207-212
Author(s):  
Yu Lin Wang ◽  
Zheng Ji ◽  
Kuan Huang ◽  
Wei Jun Tao ◽  
Hu Tian Feng ◽  
...  
Keyword(s):  
Mobile Robot ◽  
System Design ◽  
Mechanical Design ◽  
Wheeled Mobile Robot ◽  
Schematic Design

The wheeled mobile robot has been widely used in various fields nowadays. Combining with a contest of mobile robot used for sorting and conveying objects, this paper designed a non-tracking wheeled mobile robot, which can move according to a reasonable route planned beforehand. First, the overall schematic design of mobile robot was introduced. Then the mechanical design and the circuit system design were discussed in detail. Last, the strategy of sorting and conveying was studied, and the innovative rotary-wheel mechanism can greatly simplify the sorting and conveying strategy. Through experiment verified, the proposed wheeled mobile robot can quickly achieve sorting and conveying according to preplanned paths.

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