scholarly journals Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

2022 ◽  
Vol 2022 ◽  
pp. 1-19
Author(s):  
Hani Attar ◽  
Amer Tahseen Abu-Jassar ◽  
Vladyslav Yevsieiev ◽  
Vyacheslav Lyashenko ◽  
Igor Nevliudov ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Structural Control ◽  
Slow Motion ◽  
Vertical Movement ◽  
Work Zones ◽  
Program Code ◽  
Natural Behavior ◽  
Dynamic Movement ◽  
Control Scheme ◽  
3D Printed

Research in robotics is one of the promising areas in mobile robot development, which is planned to be implemented in extreme dangerous conditions of areas explored by humans. This article aims at developing and improving a prototype of zoomorphic mobile robots that are designed to repeat the existing biological objects in nature. The authors performed a detailed analysis on the structure and dynamics of the geometrical family caterpillar movement, which is passed on a practical design implemented to perform the dynamic movement on uneven vertical surfaces. Based on the obtained analysis, the design and kinematic scheme of the movement is developed. Also, the structural control scheme via the Internet technologies that allow carrying out remote control is presented in this paper, considering the dangerous mobile robot work zones. To test the recommended solutions, the authors developed detailed 3D printed models of the mobile robot constructions for the implemented hardware. The model of the mobile robot is constructed, and the control system with examples of the user program code implementations is performed. Several experiments were performed, which showed the efficiency of the achieved mobile robot for solving problems of vertical movement on uneven metal surfaces. Moreover, the obtained slow motion of the designed robot proves that the simulated robot behaves similarly to the natural behavior of caterpillar movement.

A Reliability Assessment Model for MR Damper Components within a Smart Structural Control Scheme

2008 ◽  
Vol 56 ◽  
pp. 218-224
Author(s):  
Maguid H.M. Hassan
Keyword(s):  
Structural Control ◽  
Inverse Dynamics ◽  
Mr Damper ◽  
Assessment Model ◽  
Resistance Force ◽  
Mr Dampers ◽  
Control Scheme ◽  
Smart Control ◽  
Control Devices ◽  
Magneto Rheological

Smart control devices have gained a wide interest in the seismic research community in recent years. Such interest is triggered by the fact that these devices are capable of adjusting their characteristics and/or properties in order to counter act adverse effects. Magneto-Rheological (MR) dampers have emerged as one of a range of promising smart control devices, being considered for seismic applications. However, the reliability of such devices, as a component within a smart structural control scheme, still pause a viable question. In this paper, the reliability of MR dampers, employed as devices within a smart structural control system, is investigated. An integrated smart control setup is proposed for that purpose. The system comprises a smart controller, which employs a single MR damper to improve the seismic response of a single-degree-of-freedom system. The smart controller, in addition to, a model of the MR damper, is utilized in estimating the damper resistance force available to the system. On the other hand, an inverse dynamics model is utilized in evaluating the required damper resistance force necessary to maintain a predefined displacement pattern. The required and supplied forces are, then, utilized in evaluating the reliability of the MR damper. This is the first in a series of studies that aim to explore the effect of other smart control techniques such as, neural networks and neuro fuzzy controllers, on the reliability of MR dampers.

Intelligent fuzzy interface technique for the control of an autonomous mobile robot

2008 ◽  
Vol 222 (11) ◽  
pp. 2281-2292 ◽  
Author(s):  
D R Parhi ◽  
M K Singh
Keyword(s):  
Mobile Robot ◽  
Fuzzy Theory ◽  
Mobile Robot Navigation ◽  
Control Technique ◽  
Autonomous Mobile Robot ◽  
Navigation Algorithm ◽  
Control Scheme ◽  
Heading Angle ◽  
Left Front ◽  
World Environment

In this article, research has been carried out on the control technique of an autonomous mobile robot to navigate in a real-world environment, avoiding structured and unstructured obstacles, especially in a crowded and unpredictably changing environment. Here a successful way of structuring the navigation task, dealing with the issues of individual robot behaviours, is discussed. Action coordination of the behaviours has been addressed using fuzzy logic in the present research. The inputs to the proposed fuzzy-control scheme consist of a heading angle between a robot and a specified target, and the distances between the robot and the obstacles to the left, front, and right of its locations, being acquired by an array of sensors. The proposed intelligent controller for mobile robot navigation algorithm employing fuzzy theory has been applied in a complex environment. The results are verified in simulation and experimental modes, which are in good agreement.

scholarly journals An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty

10.5772/5801 ◽  
2005 ◽  
Vol 2 (1) ◽  
pp. 8 ◽  
Author(s):  
F. Mnif ◽  
F. Touati
Keyword(s):  
Mobile Robot ◽  
Parametric Uncertainty ◽  
Lyapunov Stability Theory ◽  
Original System ◽  
Stability And Convergence ◽  
Nonholonomic Mobile Robot ◽  
Control Scheme ◽  
The Stability ◽  
Invariant Control ◽  
Time Invariant

This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by the derivation of a smooth time invariant control in the new coordinates. The stability and convergence analysis is built on Lyapunov stability theory.

Wheeled Mobile Robot Tracking Control without Velocity Measurement

2013 ◽  
Vol 373-375 ◽  
pp. 231-237 ◽  
Author(s):  
Qiang Wang ◽  
Guang Tong ◽  
Xin Xing
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Velocity Measurement ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Design Parameters ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Robot Tracking ◽  
Control Scheme

In this paper, a new robust trajectory tracking control scheme for wheeled mobile robots without velocity measurement is proposed. In the proposed controller, the velocity observer is used to estimate the velocity of wheeled mobile robot. The dynamics of wheeled mobile robot is considered to develop the controller. The proposed controller has the following features: i) The proposed controller has good robustness performance; ii) It is easy to improve tracking performance by setting only one design parameters.

scholarly journals Modeling and Analysis in Trajectory Tracking Control for Wheeled Mobile Robots with Wheel Skidding and Slipping: Disturbance Rejection Perspective

Actuators ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 222
Author(s):  
Xiaoshan Gao ◽  
Liang Yan ◽  
Chris Gerada
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Dynamic Models ◽  
Nonholonomic Constraints ◽  
Disturbance Attenuation ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Control Scheme

Wheeled mobile robot (WMR) is usually applicable for executing an operational task around complicated environment; skidding and slipping phenomena unavoidably appear during the motion, which thus can compromise the accomplishment of the task. This paper investigates the trajectory tracking control problem of WMRs via disturbance rejection in the presence of wheel skidding and slipping phenomena. The kinematic and dynamic models with the perturbed nonholonomic constraints are established. The trajectory tracking control scheme at the dynamic level is designed so that the mobile robot system can track the virtual velocity asymptotically, and counteract the perturbation caused by the unknown skidding and slipping of wheels. Both simulation and experimental works are conducted, and the results prove the performance of the proposed control scheme is effective in terms of tracking precision and disturbance attenuation.

scholarly journals Legged 3D Printed Mobile Robot

2018 ◽  
pp. 0394-0399 ◽  
Author(s):  
Petar Curkovic ◽  
Luka Miskovic ◽  
David Sarancic
Keyword(s):  
Mobile Robot ◽  
3D Printed

scholarly journals Behavioural Fault tolerant control of an Omni directional Mobile Robot with Four mecanum Wheels

2019 ◽  
Vol 69 (4) ◽  
pp. 353-360 ◽  
Author(s):  
Swati Mishra ◽  
Mukesh Sharma ◽  
Santhakumar Mohan
Keyword(s):  
Mobile Robot ◽  
Fault Tolerant ◽  
Tolerance Limit ◽  
Control Scheme ◽  
Circular Profile ◽  
Wheel Alignment ◽  
Point Control ◽  
Set Point Control ◽  
Pseudo Inverse ◽  
Kinematic Motion

This paper analyses the four-mecanum wheeled drive mobile robot wheels configurations that will give near desired performance with one fault and two faults for both set-point control and trajectory-tracking (circular profile) using kinematic motion control scheme within the tolerance limit. For one fault the system remains in its full actuation capabilities and gives the desired performance with the same control scheme. In case of two-fault wheels all combinations of faulty wheels have been considered using the same control scheme. Some configurations give desired performance within the tolerance limit defined while some does not even use pseudo inverse since using the system becomes under-actuated and their wheel alignment and configurations greatly influenced the performance.

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