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Considering efficiency, labor costs and the risk of injury existing in maintenance methods for power substation equipment, this paper designs a live maintenance mobile robot system for power substation equipment, whose mechanical structure mainly includes mobile platform system based on Mecanum wheels and maintenance arm system. In addition, a kinematic model of the live maintenance mobile robot is...
The paper presents a new approach to non-linear control of the omnidirectional mobile robotic platform. The omnidirectional mobile robot was chosen as the object of control because among other ground vehicles it is the most maneuverable and intended for a work in conditions of limited space, e.g. it is designed for solving transport tasks in warehouses. The omnidirectional platform has the shape of...
This paper presents a leader-follower consensus formation control method using backstepping sliding-mode control for a group of uncertain, networked heterogeneous nonholonomic wheeled mobile robots (NWMRs), in order to achieve formation keeping and trajectory tracking, respectively. The NWMRs are composed of two kind of wheeled mobile robots, including nonholonomic self-balancing two-wheeled mobile...
Mobile manipulators extend the workspace of manipulators by mounting them on mobile platforms. The paper presents the design of a motion controller for a mobile manipulator. The mobile manipulator consists of a mobile platform driven by Mecanum wheels and a robotic arm with 6 degrees of freedom. A Mecanum wheeled platform provides 3 degrees of freedom in motion. Such a platform is usually driven by...
This paper organizes and reviews design elements. There are two main design perspectives to be considered. First of all, the mobile system should guarantee traversability on rough terrains in microgravity condition. Secondly, the system should be sustainable in the extreme environment of the lunar surface including cosmic rays and excessive temperature changes. For the issues, we analyzed four elements...
This paper proposes an omni-directional mobile base utilizing spherical robots as its wheels. In particular, the mobile base can move in an omni-directional manner by controlling translational and rotational motion of the spherical robots. However, in practice, unnecessary rotation of the spherical robots may occur due to the presence of friction and individually controlled wheel's-direction. To overcome...
Holonomic systems are often complex and expensive with poor terrain handling capabilities. This paper introduces HAMR, a platform that is simple and low-cost with good terrain handling capabilities which was designed using a new method for characterizing mobility. A mobility ellipsoid (analogous to a manipulability ellipsoid) is introduced as a design tool. A metric called holonomicity measures the...
In the field of robotics, the two wheel mobile manipulator has the potential to perform wide range of applications. Balancing of the system becomes a bothering task due to the highly unstable nature of the system. Nonlinear model of wheeled mobile manipulator is developed using Lagrange's equations by considering the dynamics of wheel and links. Control method for balancing the two wheeled mobile...
In recent years, many researchers have shown their interest on the dynamic modeling and control of two-wheeled mobile robots. In this concern, designing the self-balancing robots and reducing undesired vibrations are of great importance. For this purpose, the majority of publications are focused on application of relatively complex control approaches without improving the robot structure. Therefore,...
This paper is an effort to promote the self-balancing two wheeled mobile manipulator proposed in Part I of this article. In part I, we introduced a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the required level of self-balancing without applying any certain complex controller. Now, in this paper, a new modified platform is developed to climb high obstacles....
This paper presents a new mobile robotic platform (R-Mo) which can reduce unexpected variations in height as well as pitch angle of its main body while traversing rough terrains. As a measure for the smooth movement of mobile platform, the variations in height and pitch angle are chosen in this study. Then, the kinematic analysis on the Rocker-Bogie mechanism is carried out to investigate its variations...
The use of more than one steerable (standard) driving wheel allows a robot to perform omnidirectional motions. However, the modeling and control of such robots is challenging since the system is non-holonomic, nonlinear and typically over actuated. Moreover, such platforms exhibit kinematic singularities. A well known singular configuration is the configuration where two steerable driving wheels are...
Agricultural operations are constantly becoming technology-driven mainly due to labor shortages, increase in labor cost, and trends in new and advanced technology applications. In this paper, we have presented a system-of-systems approach to design and development of a mobile robotic platform for agricultural applications. Similar to other field robots, the mobile platform for agricultural applications...
The article is focused on a measurement system for ground reaction forces in a skid-steering mobile platform. The information derived by such a system is useful for several model based control algorithms which in turn are the base for requirements of a measurement system. The system, that meets the requirements, is proposed and initially discussed. Presentation of a system concept is complemented...
In this paper, a LQR controller for a mobile manipulator using COG feedback is proposed. The combination of manipulator and two wheeled mobile robot (T-WMR) has been the focus of research because of their flexibility. However, the dynamic analysis is difficult for a multi-DOF mobile manipulator. Moreover, the dynamic equations are complex and will cost great amount of computation time. Real time control...
In this paper the design of the ultralight mobile drilling system (UMDS) dedicated for environment difficult to explore is presented. The main goal of the system is to extract soil probes from hardly accessible places, thus appropriate mobility must be a significant feature of the system. A special design of a rover is described. The main objectives are related to weight reduction of particular components,...
High demand for painters is required nowadays and foreseen in the near future for both developed and developing countries. To satisfy such demand, this paper presents the detailed computer aided design (CAD) model of a fully functional wall painting robot for interior finishes. The RoboPainter is capable of performing full scale wall-ceil painting in addition to decorative wall drawings. The 8 degrees...
An implementation of inverse kinematic model is applied for the mobile robot using four-wheels mecanum drive. The implementation is designed for omni-directional movement without changes the robot position on a facing direction. Four stepper motors are used to drive the mecanum wheels due to these types have a good precision. This speed control feedback is not necessary. The radius of the mobile robot...
A semi-autonomous mobile self-leveling landing platform designed to launch, recover and re-launch VTOL UAVs without the need for human intervention is described. The landing platform is rugged, lightweight and inexpensive, making it ideal for civilian applications that require a base station from which a rotorcraft UAV can be launched and/or recovered on terrain that is normally unsuitable for UAV...
The goal of this paper is to present a real-time controller for an omnidirectional wheeled humanoid robot which can be strongly disturbed and tilt around its wheels. It is based on two linear model predictive controllers, managed by a tilt supervisor, which detects changes of the dynamic model caused by the tilt of the robot. Experimental results are proposed on the robot Pepper made by Aldebaran,...
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