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.

MOBILE ROBOT NAVIGATION CONTROL DESIGN USING VIRTUAL SIMULATOR WITH RAPID PROTOTYPING

2009 ◽  
Vol 06 (03) ◽  
pp. 181-191
Author(s):  
LEONIMER FLAVIO DE MELO ◽  
JOSE FERNANDO MANGILI
Keyword(s):  
Rapid Prototyping ◽  
Mobile Robot ◽  
Embedded System ◽  
Mobile Robots ◽  
Mobile Robot Navigation ◽  
Robotic Control ◽  
Dynamic Simulator ◽  
The Embedded System ◽  
And Control ◽  
Control Implementation

This paper presents the virtual environment implementation for simulation and design conception of supervision and control systems for mobile robots, that are capable to operate and adapt in different environments and conditions. The purpose of this virtual system is to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with monitoring in real time of all important system points. For this, an open control architecture is proposed, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module, and an analysis module of results and errors. All the kinematic and dynamic results obtained during the simulation can be evaluated and visualized in graphs and table formats in the results analysis module, allowing the improvement of the system, minimizing the errors with the necessary adjustments and optimization. For controller implementation in the embedded system, it uses the rapid prototyping which is the technology that allows in set, with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplished with nonholonomic mobile robot models with differential transmission.

Stability Analysis of a Wheel-Track-Leg Hybrid Mobile Robot

2017 ◽  
Vol 91 (3-4) ◽  
pp. 515-528 ◽  
Author(s):  
Yuhang Zhu ◽  
Yanqiong Fei ◽  
Hongwei Xu
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Wheel Track

scholarly journals Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind

2017 ◽  
Vol 22 (1) ◽  
pp. 81-99 ◽  
Author(s):  
Z. Hendzel ◽  
Ł. Rykała
Keyword(s):  
Mathematical Model ◽  
Kinetic Energy ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Equations Of Motion ◽  
Wheeled Mobile Robot ◽  
Dynamic Equations ◽  
Lagrange Equations ◽  
Wheeled Mobile Robots ◽  
New Type

Abstract The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

SAVIC: A SIMULATION, VISUALIZATION AND INTERACTIVE CONTROL ENVIRONMENT FOR MOBILE ROBOTS

1993 ◽  
Vol 07 (01) ◽  
pp. 123-144 ◽  
Author(s):  
CHUXIN CHEN ◽  
MOHAN M. TRIVEDI
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Virtual World ◽  
Control Environment ◽  
Robot System ◽  
Interactive Control ◽  
Dynamic Motion ◽  
Unique System ◽  
Software Modules ◽  
And Control

A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This research is focused on enhancing the overall productivity of an integrated human-robot system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

Localization and Control System of Mobile Robot Based on Wireless Sensor Network

2009 ◽  
Vol 16-19 ◽  
pp. 1133-1137
Author(s):  
Li Xin Guo ◽  
Qiu Ye Huang ◽  
Hua Long Xie ◽  
Jin Li Li ◽  
Zhao Wen Wang
Keyword(s):  
Wireless Sensor Network ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Sensor Network ◽  
Static Condition ◽  
Wireless Sensor ◽  
Mobile Object ◽  
Wireless Localization ◽  
Localization System ◽  
And Control

The localization of mobile robots is one of important problems for navigation of mobile robots. The wireless sensor network, i.e., Cricket wireless localization technology, was used to obtain motive condition of mobile objects in this study. The information transmission between the Cricket localization system and mobile robot system was achieved for localization, navigation and control of the mobile object. The errors of localization sampling data of the Cricket localization system vary within 3cm in a static condition. The Cricket localization system can meet the navigation requirement of the mobile robots.

scholarly journals Bluetooth Transceivers for Full Duplex Communications in Mobile Robots

2012 ◽  
Author(s):  
Choo S. H. ◽  
Shamsudin H M. Amin ◽  
N. Fisal ◽  
C. F. Yeong ◽  
J. Abu Bakar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Key Words ◽  
Control Unit ◽  
Full Duplex ◽  
Communication Mode ◽  
And Control

Projek ini mengeksplotasi penggunaan Teknologi Bluetooth dalam robot mudah alih. Robot mudah alih mempunyai kebolehan untuk bergerak secara automasi menggunakan algoritma yang rumit dan canggih. Algoritma disimpan dalam sebuah komputer sebagai tuan dan juga “server”. Segala bacaan penderia daripada robot mudah alih akan dihantar kepada tuan dan diproses. Kemudian, arahan untuk langkah seterusnya akan dihantar dari “server” kepada robot mudah alih dalam mode komunikasi dua hala dan dupleks penuh. Maka, “otak” utama berada di "server" dan bukannya pada robot mudah alih. Kertas ini akan memfokus pada perantaraan muka antara Bluetooth transceiver dan Handy Board MC68HC11 mikro pengawal pada robot mudah alih. Untuk kes biasa, satu penerima dan penghantar diperlukan untuk setiap alat (server dan client) masing-masing, tetapi dengan Teknologi Bluetooth, hanya dua Bluetooth transceiver diperlukan untuk mencapai perhubungan dupleks penuh. Projek ini telah menghasilkan robot mudah alih dengan kebolehan Bluetooth. Robot tersebut boleh dikawal secara “wirelessly” melalui Bluetooth transceiver. Kata kunci: Teknologi Bluetooth; dua hala; duplex penuh; automasi; Handy Board This work explores the implementation of Bluetooth technology in mobile robots. The mobile robot has the capability to move around autonomously using complicated and powerful algorithm. The algorithms are stored in the master as the server. All sensor readings from the mobile robot will be transmitted to the master and processed. Then, command or instruction for further action is transmitted from the server to the mobile robot in a bi-directional full duplex communication mode. Hence, the main “brain” is in the server instead of the mobile robot. This paper will focus on the interfacing between Bluetooth tranceiver and Handy Board MC68HC11 micro-controller of mobile robot. For common case, a receiver and transmitter are needed for each device (robot and control unit), but with Bluetooth technology, only two Bluetooth transceivers are needed to achieve full duplex connection. This project has provided a Bluetooth enabled mobile robot. The mobile robot can be controled wirelessly via Bluetooth transceiver. Key words: Bluetooth Technology; bi-directional; full duplex; autonomously; Handy Board

scholarly journals The stability analysis and control transmission of mathematical model for Ebola Virus

2019 ◽  
Vol 3 (2) ◽  
pp. 91-102 ◽  
Author(s):  
Muhammad Tahir ◽  
◽  
Gul Zaman ◽  
Syed Inayat Ali Shah ◽  
Sher Muhammad ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Ebola Virus ◽  
The Stability ◽  
And Control

The Application of Bioinspired Jumping Locomotion Principles to Mobile Robots: Modeling and Analysis

2011 ◽  
Author(s):  
Omar Gilani ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Mathematical Model ◽  
Energy Storage ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Robotic Systems ◽  
Modeling And Analysis ◽  
Unstructured Environments ◽  
Model Based ◽  
High Magnitude ◽  
Jumping Robot

Nature provides various alternative locomotion strategies which could be applied to robotic systems. One such strategy is that of jumping, which enables centimeter to millimeter-scaled insects to traverse highly unstructured environments quickly and efficiently. These insects generate the required high magnitude power through specialized structures which store and rapidly release large amounts of energy. This paper presents an investigation into the morphology of natural jumpers and derives a generalized mathematical model based on them. The model describes mathematically the relationships present in a jumping system which uses a pause-and-leap jumping strategy. The use of springs as energy storage elements for such a jumping system is assessed. The discussion is then further extended to another bioinspired approach that can be applied to a jumping robot: that of gliding using foldable wings. The developed jumping and gliding mobility paradigm is analyzed and its feasibility for mobile robot applications is discussed.

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.

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