Developing a Kinematic Estimation Model for a Climbing Mobile Robotic Welding System

2010 ◽  
Author(s):  
Aaron T. O’Toole ◽  
Stephen L. Canfield
Keyword(s):  
Kinematic Model ◽  
Robotic Welding ◽  
Estimation Model ◽  
Mobile Platforms ◽  
Low Profile ◽  
Turning Radius ◽  
Equivalence Model ◽  
Kinematic Equivalence ◽  
Welding System ◽  
Robot Platform

Skid steer tracked-based robots are popular due to their mechanical simplicity, zero-turning radius and greater traction. This architecture also has several advantages when employed by mobile platforms designed to climb and navigate ferrous surfaces, such as increased magnet density and low profile (center of gravity). However, creating a kinematic model for localization and motion control of this architecture is complicated due to the fact that tracks necessarily slip and do not roll. Such a model could be based on a heuristic representation, an experimentally-based characterization or a probabilistic form. This paper will extend an experimentally-based kinematic equivalence model to a climbing, track-based robot platform. The model will be adapted to account for the unique mobility characteristics associated with climbing. The accuracy of the model will be evaluated in several representative tasks. Application of this model to a climbing mobile robotic welding system (MRWS) is presented.

Modeling and Design of a Linkage-Based Suspension for Tracked-Type Climbing Mobile Robotic Systems

2011 ◽  
Author(s):  
Padmanabhan Kumar ◽  
Tristan W. Hill ◽  
D. Andrew Bryant ◽  
Stephen L. Canfield
Keyword(s):  
Factor Of Safety ◽  
Robotic Systems ◽  
Robot Design ◽  
Climbing Robot ◽  
Mobile Platforms ◽  
Unique Role ◽  
Analysis And Design ◽  
Low Profile ◽  
Robot Systems ◽  
Turning Radius

Skid steer tracked-based robots are popular due to their mechanical simplicity, zero-turning radius and greater traction. This architecture also has several advantages when employed by mobile platforms designed to climb and navigate ferrous surfaces, such as increased magnet density and low profile (center of gravity). However, the suspension design plays a critical and unique role in track-based climbing systems relative to their traditional counterparts. In particular, the suspension must both accommodate irregularities in the climbing surface as well as transfer forces to the robot chassis required to maintain equilibrium. Furthermore, when properly designed, the suspension will distribute the climbing forces in a prescribed manner over the tractive elements. This paper will present a model for analysis and design of a linkage-type suspension for track-based climbing robot systems. The paper will further propose a set of requirements termed “conditions of climbing” that must be met to ensure stable (no falling) climbing for a given robot design over a range of climbing surface geometries. A recursive strategy is proposed to implement these conditions and yield a factor of safety in the current climbing state. This model will be compared through empirical testing with several prototype climbing robot systems. A method will also be demonstrated to use this model in the design of a preferred suspension system.

Visual Robotic Welding System

2016 ◽  
Vol 85 (7) ◽  
pp. 657-662
Author(s):  
Satoshi YAMANE
Keyword(s):  
Robotic Welding ◽  
Welding System

scholarly journals Improved hybrid A* path planning method for spherical mobile robot based on pendulum

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199295
Author(s):  
Ziang Zhang ◽  
Yixu Wan ◽  
You Wang ◽  
Xiaoqing Guan ◽  
Wei Ren ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Common Ground ◽  
Kinematic Model ◽  
Point Contact ◽  
Shell Shape ◽  
Spherical Robot ◽  
Trajectory Tracking Control ◽  
Novel Method ◽  
Turning Radius ◽  
Spherical Mobile Robot

This article proposes a modification of hybrid A* method used for navigation of spherical mobile robots with the ability of limited partial lateral movement driven by pendulum. For pendulum-driven spherical robots with nonzero minimal turning radius, our modification helps to find a feasible and achievable path, which can be followed in line with the low time cost. Because of spherical shell shape, the robot is point contact with the ground, showing different kinematic model compared with common ground mobile robots such as differential robot and wheeled car-like robot. Therefore, this article analyzes the kinematic model of spherical robot and proposes a novel method to generate feasible and achievable paths conforming to kinematic constraints, which can be the initial value of future trajectory tracking control and further optimization. A concept of optimal robot’s minimum area for rotation is also proposed to improve search efficiency and ensure the ability of turning to any orientation by moving forward and backward in a finite number of times within limited areas.

Simulation of Positioning Accuracy of the Torch in Adaptive Robotic Welding System

1987 ◽  
Vol 20 (12) ◽  
pp. 293-298
Author(s):  
M. Kvasnica ◽  
Š. Petráš ◽  
I. Kočiš
Keyword(s):  
Robotic Welding ◽  
Positioning Accuracy ◽  
Welding System

Design and Analysis of the Laser Robotic Welding System for ITER Correction Coil Case

2015 ◽  
Vol 34 (5) ◽  
pp. 1060-1066 ◽  
Author(s):  
C. Fang ◽  
Y. T. Song ◽  
J. Wei ◽  
J. J. Xin ◽  
H. P. Wu ◽  
...  
Keyword(s):  
Robotic Welding ◽  
Correction Coil ◽  
Welding System

scholarly journals A Mobile Robotic Welding Robot will be Verified both Theoretically and Empirically using AWS and ASTM Standards

2020 ◽  
Vol 8 (5) ◽  
pp. 5246-5251
Keyword(s):  
Weld Joint ◽  
Vertical Section ◽  
Welding Process ◽  
Movement Control ◽  
Cutting Edge ◽  
Welding Robot ◽  
Robotic Welding ◽  
Weld Joints ◽  
Welding Procedure ◽  
Welding System

Customary automated welding, basic in ventures, for example, car creation, gets unfeasible in enterprises that utilization unstructured assembling systems, for example, shipbuilding. This is expected to some extent to the size of the made frameworks and the size and areas of the weld. In these unstructured assembling conditions, the cutting edge for automated welding has generally comprised of a fixed-track framework with a mechanical welding carriage that works along the track. In any case, elective automated welding approaches that utilize advancements from the field of versatile mechanical autonomy are being sought after. One such model is the semiautonomous Versatile Robotic Welding System (MRWS). The MRWS is a lightweight versatile controller comprising of a two-degrees-of-opportunity portable stage and a threedegrees-of-opportunity burn controller. The MRWS is equipped for climbing ferrous surfaces by the utilization of changeless magnet tracks and situating the welding light along a weld joint. This framework is intended to automate the welding procedure for an assortment of weld joints with insignificant arrangement time. Arrangement comprises of putting the MRWS superficially to be welded and heading to the expected weld joint. So as to be used in a producing condition, such a framework must be confirmed for the welding procedure it is performing. This paper exhibits and confirms the MRWS as a legitimate other option for automated welding in unstructured situations. The confirmation procedure comprises of two parts: plan approval dependent on hypothetical investigation of the MRWS framework models to demonstrate the weld procedure necessities can be met, trailed by an exact confirmation dependent on AWS weld test particulars for a particular, normally utilized welding process. The plan approval centers around the two essential contrasts between the MRWS and demonstrated fixed-track motorized welding frameworks, burn movement control on a portable stage, and effect of the MRWS attractive feet on the weld process. The observational confirmation was performed on a vertical section weld on gentle steel with tough movement, 3G-PF

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