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In-pipe wheeled robots require friction on the wheels to maintain traction. Ability to vary this friction is highly desirable but conventionally used linkage mechanism is not suitable for it. This paper presents a novel mechanism generating adjustable friction with minimal energy consumption for in-pipe robots. The mechanism uses permanent magnets to achieve the objective. An appropriate model for...
A controller for robot trajectory tracking is developed. This controller uses on-line recursive identification techniques to track the model parameters which describe the plant. The identified model is then used to compute a feedforward signal such that the desired trajectory is followed. This paper derives the trajectory tracking accuracy for a general class of dynamic systems. It also derives an...
Direct drive is an ideal drive method which has excellent features including no backlash, low friction, and high mechanical stiffness. Applying the direct drive method to robot arms, however, leads to an impractical design because of the following two drawbacks. One is that a direct-drive arm tends to be heavier than a conventional arm with transmission mechanisms; because the motors of direct-drive...
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