scholarly journals Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot

Machines ◽  
2019 ◽  
Vol 7 (1) ◽  
pp. 5 ◽  
Author(s):  
Carmine Pappalardo ◽  
Domenico Guida
Keyword(s):  
Mobile Robot ◽  
Equivalence Principle ◽  
Research Work ◽  
Mechanical Systems ◽  
Mathematical Form ◽  
Dynamic Problems ◽  
Inverse Dynamic ◽  
Nonholonomic Mechanical Systems ◽  
And Control ◽  
Underactuation Equivalence Principle

In this research work, a new method for solving forward and inverse dynamic problems of mechanical systems having an underactuated structure and subjected to holonomic and/or nonholonomic constraints is developed. The method devised in this paper is based on the combination of the Udwadia-Kalaba Equations with the Underactuation Equivalence Principle. First, an analytical method based on the Udwadia-Kalaba Equations is employed in the paper for handling dynamic and control problems of nonlinear nonholonomic mechanical systems in the same computational framework. Subsequently, the Underactuation Equivalence Principle is used for extending the capabilities of the Udwadia-Kalaba Equations from fully actuated mechanical systems to underactuated mechanical systems. The Underactuation Equivalence Principle represents an efficient method recently developed in the field of classical mechanics. The Underactuation Equivalence Principle is used in this paper for mathematically formalizing the underactuation property of a mechanical system considering a particular set of nonholonomic algebraic constraints defined at the acceleration level. On the other hand, in this study, the Udwadia-Kalaba Equations are analytically reformulated in a mathematical form suitable for treating inverse dynamic problems. By doing so, the Udwadia-Kalaba Equations are employed in conjunction with the Underactuation Equivalence Principle for developing a nonlinear control method based on an inverse dynamic approach. As shown in detail in this investigation, the proposed method can be used for analytically solving in an explicit manner the forward and inverse dynamic problems of several nonholonomic mechanical systems. In particular, the tracking control of the unicycle-like mobile robot is considered in this investigation as a benchmark example. Numerical experiments on the dynamic model of the unicycle-like mobile robot confirm the effectiveness of the nonlinear dynamic and control approaches developed in this work.

Design of a Mobile Robot to Clean the External Walls of Oil Tanks

2013 ◽  
pp. 237-247
Author(s):  
Hernán Gonzalez Acuña ◽  
Alfonso René Quintero Lara ◽  
Ricardo Ortiz Guerrero ◽  
Jairo de Jesús Montes Alvarez ◽  
Hernando González Acevedo ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Design Process ◽  
Design Methodology ◽  
Mechanical Design ◽  
Research Work ◽  
Control Design ◽  
Research Groups ◽  
Successful Design ◽  
Oil Tanks ◽  
And Control

This chapter describes a Mechatronics Design methodology applied to the design of a mobile robot to climb vertical surfaces. The first part of this chapter reviews different ways to adhere to vertical surfaces and shows some examples developed by different research groups. The second part presents the stages of Mechatronics design methodology used in the design, including mechanical design, electronics design, and control design. These stages describe the most important topics for optimally successful design. The final part provides results that were obtained in the design process and construction of the robot. Finally, the conclusions of this research work are presented.

Redundant Nonholonomic Mechanical Systems: Characterization and Control

1998 ◽  
Vol 31 (17) ◽  
pp. 739-744
Author(s):  
R. Colbaugh ◽  
M. Trabatti ◽  
K. Glass
Keyword(s):  
Mechanical Systems ◽  
Nonholonomic Mechanical Systems ◽  
And Control

Redundant nonholonomic mechanical systems: characterization and control

Robotica ◽  
1999 ◽  
Vol 17 (2) ◽  
pp. 203-217 ◽  
Author(s):  
R. Colbaugh ◽  
M. Trabatti ◽  
K. Glass
Keyword(s):  
Nonholonomic System ◽  
Mechanical Systems ◽  
Space Robot ◽  
System Model ◽  
Mobile Manipulator ◽  
Kinematic Redundancy ◽  
Considerable Uncertainty ◽  
Nonholonomic Mechanical Systems ◽  
And Control

This paper introduces the notion of kinematic redundancy in nonholonomic mechanical systems, identifies some of the interesting properties which result because of the presence of the redundancy, and initiates a study of the control and application of these systems. It is shown that kinematic redundancy in nonholonomic system can be exploited both to simplify the problem of controlling these systems and to enhance their performance capabilities. Moreover, it is demonstrated that these results can be obtained even in the presence of considerable uncertainty regarding the system model. The proposed ideas are illustrated through the study of three example systems: a space robot, a mobile manipulator, and a tractor-trailer system with two steering inputs (fire truck).

Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm

2018 ◽  
Author(s):  
Wei Chen ◽  
Lipu Wei ◽  
Xiuping Yang ◽  
Jinjin Guo ◽  
Xizheng Zhang ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Robot Manipulators ◽  
Research Work ◽  
Mobile Manipulator ◽  
Robot Arm ◽  
Flexible Robot ◽  
Modeling And Analysis ◽  
And Control ◽  
Mobile Robot Manipulators

Considerable research attentions have recently been paid toward a mobile manipulator (a robot arm standing on a mobile platform) due to its extended workspace beyond the manipulator reach. Mobile manipulators have a wide range of potential applications where it is desirable to achieve higher degree of flexibility in transport and handling task. However, a vast number of research publications only focus on trajectory planning. This preliminary research work presents dynamic modeling and analysis of a mobile flexible robot arm with aims to provide insights for the design and control of such mobile robot manipulators. In this work, the dynamic model is developed using a computationally efficient method: Discrete Time Transfer Matrix Method (DT-TMM). The concepts and principle of DT-TMM are briefly overviewed, and then are applied to a mobile flexible robot arm for dynamic modeling with the detailed procedure. Numerical simulations and dynamic analyses are performed to illustrate the effectiveness of the proposed dynamic modeling method, and to provide the clues for our ongoing research work in the design and control of mobile robot manipulators.

scholarly journals Design of a Mobile Robot to Clean the External Walls of Oil Tanks

Robotics ◽  
2013 ◽  
pp. 743-753
Author(s):  
Hernán González Acuña ◽  
Alfonso René Quintero Lara ◽  
Ricardo Ortiz Guerrero ◽  
Jairo de Jesús Montes Alvarez ◽  
Hernando González Acevedo ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Design Process ◽  
Design Methodology ◽  
Mechanical Design ◽  
Research Work ◽  
Control Design ◽  
Research Groups ◽  
Successful Design ◽  
Oil Tanks ◽  
And Control

This chapter describes a Mechatronics Design methodology applied to the design of a mobile robot to climb vertical surfaces. The first part of this chapter reviews different ways to adhere to vertical surfaces and shows some examples developed by different research groups. The second part presents the stages of Mechatronics design methodology used in the design, including mechanical design, electronics design, and control design. These stages describe the most important topics for optimally successful design. The final part provides results that were obtained in the design process and construction of the robot. Finally, the conclusions of this research work are presented.

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