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In this paper, the Mobile Parallel Robot (MPR) with structural configurations of PPUU (Prismatic - Prismatic - Universal - Universal) is developed. The inverse kinematics is firstly derived and a specific control system is presented. The control system integrates the features of parallel robot and mobile robot. Five control modules are included in the control software. By using the omnidirectional...
The subject of this paper is the design, analysis and control of a biped line walking robot for inspection of power transmission lines. The novel mechanism enables the centroid of the robot concentrate on the hip joint to minimize the drive torque of the hip joint. The line-walking cycle of the designed mechanism is composed of a single-support phase and a double-support phase. During the process...
This paper deals with the stability analysis of a class of T-S fuzzy systems. Based on the piecewise fuzzy Lyapunov function, an adaptive optimal fuzzy control design method for stabilization of T-S fuzzy system is derived. This method reduces the conservatism of both piecewise Lyapunov function and fuzzy Lyapunov function. The stability condition obtained is more relaxed and the control system has...
In this paper, a mechanism type synthesis is carried out for a class of mobile parallel robots (MPR) based on a systematic enumeration method, and the feasible configurations for the MPR are obtained. Then the inverse kinematics for the two typical mechanisms of PPRS and PPSR are derived. By a numerical approach, the workspace reachable in the Z-direction and the orientation workspace are obtained...
This paper focuses on the controller design of the walking system of a power transmission line inspection robot that is redundantly actuated by two wheels. After an analysis the kinematics and dynamic model of the driven system, the controller is designed as a master-slave model to avoid the ldquoconflictrdquo between the two wheels. To effectively damp the elastic vibration caused by the flexible...
Path planning is a fundamental issue in mobile robotics. Even if the path planning methods for mobile ground-robots and those of wall-cleaning robots have a lot in common, the latter still feature some particular characteristics. In this paper, a new approach to path planning for wall-cleaning robots is presented based on an evaluation by the synthesis of standards. Considering the characteristics...
Path planning is a fundamental issue in mobile robotics. Even if the path planning methods for mobile ground-robots and those of wall-cleaning robots have a lot in common, the latter still feature some particular characteristics. In this paper, a new approach to path planning for wall-cleaning robots is presented based on an evaluation by the synthesis of standards. Considering the characteristics...
This paper proposes a new kind of auto-climbing robot which is used for cleaning the spherical surface of the newly built National Grand Theatre in China. Firstly, an overview of the robotic system is given. Then for system design and control purposes, the climbing process is studied in detail. The force distribution of the front and rear supporting mechanisms is computed in a way that ensures the...
Wall cleaning and maintenance of high-rise buildings is becoming one of the most appropriate fields for robotization due to its current low level of automation and lack of uniform building structure. The last decade has seen an increasing interest in developing and employing service robots for cleaning glass walls which is always very dangerous and strenuous in mid-air. In this paper, we propose a...
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