Planar Cable-Direct-Driven Robots: Part II — Dynamics and Control

2001 ◽  
Author(s):  
Paolo Gallina ◽  
Aldo Rossi ◽  
Robert L. Williams
Keyword(s):  
Mass Matrix ◽  
Tracking Error ◽  
Companion Paper ◽  
Current Paper ◽  
Dynamics Model ◽  
Actuation Redundancy ◽  
Dynamics And Control ◽  
And Control ◽  
Cable Tracking ◽  
Acceleration Term

Abstract A hybrid parallel/serial manipulator architecture was introduced in a companion paper where the translational freedoms are provided by a cable-direct-driven robot (CDDR) and the rotational freedoms are provided by a serial wrist mechanism. While the companion paper presents kinematics and statics, the current paper presents a dynamics model and simulated control for planar CDDRs. Examples are presented to compare the planar 3-cable CDDR with one degree of actuation redundancy and the 4-cable CDDR with two degrees of actuation redundancy. It was found that the 4-cable tracking error was worse than for the 3-cable case, due to increased inertia with an additional actuator. Also, the controller architecture considers including and not including a feedforward reference acceleration term with the overall mass matrix; the performance of the controller with the feedforward term is clearly preferable.

A Vehicle Motion Simulator for Testing a Mobile Surveillance Robot

2009 ◽  
Author(s):  
Sung-Soo Kim ◽  
Jeong Joo Kwon ◽  
Sung ho Park ◽  
Sang Woong Park
Keyword(s):  
High Mobility ◽  
General Purpose ◽  
Dynamics Model ◽  
Motion Simulator ◽  
Dynamics And Control ◽  
Vehicle Motion ◽  
And Control ◽  
Hardware Test ◽  
Multibody Dynamics Model ◽  
Mobile Surveillance

A stewart platform type motion simulator[1] has been developed, in order to generate the HMMWV (High Mobility Multipurpose Wheeled Vehicle) motion. The purpose of this simulator is to test the stabilization system of the mobile surveillance robot that is mounted on the HMMWV. For developing this motion simulator, the multibody dynamics model of the motion simulator has been created using the general purpose dynamic analysis program ADAMS to validate the design of the motion simulator. Dynamics and control co-simulation model for the motion simulator has been also established for control performance analyses using ADAMS and MATLAB/Simulink. Actual hardware of the motion simulator has been fabricated. Hardware test of the motion simulator has been tried to validate the design.

PROJECT ON ELECTRONIC STEERING SYSYTEM

2018 ◽  
Vol 4 (5) ◽  
pp. 7
Author(s):  
Shivam Dwivedi ◽  
Prof. Vikas Gupta
Keyword(s):  
Steering System ◽  
Essential Elements ◽  
Variable Pressure ◽  
Passenger Cars ◽  
Control Techniques ◽  
Steering Mechanism ◽  
Dynamics And Control ◽  
Active Research ◽  
Electronic Steering ◽  
And Control

As the four-wheel steering (4WS) system has great potentials, many researchers' attention was attracted to this technique and active research was made. As a result, passenger cars equipped with 4WS systems were put on the market a few years ago. This report tries to identify the essential elements of the 4WS technology in terms of vehicle dynamics and control techniques. Based on the findings of this investigation, the report gives a mechanism of electronically controlling the steering system depending on the variable pressure applied on it. This enhances the controlling and smoothens the operation of steering mechanism.

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