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The vibration damper slippage is the most common power failure on high-voltage power lines, the special robot used to solve this problem has not yet been seen. This paper describes one of the latest solutions by presenting the design of a teleoperated robot called the “Finder”. Based on the mobile platform, the Finder can cross simple obstacles, pull back the damper to the correct position, and screw...
Paper presents application of called factitious force method and experiments results using the real mobile skid-steering mobile platform. Due to fact that lateral slippage is needed for changing the orientation, constraints for this phenomena cannot be introduced to the system and, thus, the mobile platform is underactuated on dynamics level. Control problem can be solved by expanding relevant components...
In the paper new control algorithm for skid-steering mobile platforms has been presented. This control law is based on mathematical model of such object. In the model it has been assumed that wheels of the skid-steering platform are not coupled by tracks and that they can move without some slipping effects, namely with lack of longitudinal slipping of selected wheels and lack of lateral slipping of...
This paper reviews the possibility of using single-motor drives to build lightweight robotic systems such as walking assistive exoskeletons, aerial robot manipulators, and collaborative robotic manufacturing systems. A single-motor drive realizes multi-axis motion actuation with one central motor, a mechanical power distribution system, and clutches at each joint. In a product family of motors that...
This paper presents a chain type, homogenous, mobile and modular multi-robot system (ULGEN) with self-assembly, self-reconfigurability, localization and high mobility capabilities. The main goal of the work is to have high maneuverable modules which can travel autonomously to explore areas individually and change their configuration when encountering obstacles. Once the optimal path is found by any...
In this article a new integrated learning platform for teaching mechatronic systems design is proposed. The platform is the result of several years of effort and experience in mechatronic education, undertaken by the department of Mechatronics and Machine Dynamics from Technical University of Cluj-Napoca. The platform aims to stimulate inter and transdisciplinary thinking of students in a collaborative...
Stereo vision is an active research topic in computer vision. Point Grey® Bumblebee® and digital single-lens reflex camera (DSLR) are normally found in the stereo vision research, they are robust but expensive. Open source electronic prototyping platforms such as Arduino and Raspberry Pi are interesting products, which allows students or researchers to custom made inexpensive experimental equipment...
In this paper a novel method is presented for hierarchical control of autonomous vehicles consisting of high-level (HLC) and low-level (LLC) control systems. The LLC system can be commanded to assure a prescribed velocity and steering profile using PID-type active suspension, velocity and steering control. The outputs of the LLC system are the generalized forces and moments required by the vehicle...
The paper is focused on a detailed dynamic study for an axis belonging to a serial robot structure. It contains an analytical study for the driving moments for a translational robot axis based on ball screw transmission. The study of transmission gearing, and implicit a rigorous determination of the driving moments, along the cinematic chain of the mechanical robotic system is a fundamental aspect,...
Dynamic modeling and state feedback control are presented for the two-wheeled self-balancing control robot (TWSBR) which is high-order, nonlinear, heavy couple and unstable. Firstly, Newtonian dynamics method is derived to obtain the dynamics equations of TWSBR nearby the equilibrium point. Secondly, some important performances are analyzed to manifest that TWSBR is heavy coupling and two decoupling...
Localization plays a key role during autonomous operation of mobile robots in planetary exploration missions. It is a challenging task due to the uncertainty in the environment and limitations in communications. In this paper we discuss various technologies that can be considered for localization of robots in extraterrestrial environments and also analyze various methods that can be implemented using...
Automated driving systems that share control with human drivers by using haptic feedback through the steering wheel have been shown to have advantages over fully automated systems and manual driving. Here, we describe an experiment to elicit tacit expectations of behavior from such a system. A gaming steering wheel electronically coupled to the steering wheel in a full-car driving simulator allows...
Automated vehicles have drawn great attention in research and industry, due to their potential benefits in driving without passengers. Using computer simulation in motion and speed control of the vehicles can reduce errors and costs. Fuzzy logic provides a different way for issues that need to be controlled. This method is concentrated on what the system should do, not on how the works are done. Using...
Current technologies and methods for cutting pieces of a raw material, have a big limitation, and without despising its efficacy and precision, its scope and area of work limit the materials that are possible to manufacture in only process stage; This is a task of an area of research how to solve this disadvantage without losing the efficiency of the past technologies.
Two-Wheeled Inverted Pendulum (TWIP) robot is considered as an unstable and underactuated system affected by physical and environmental constrains. In addition, due to the model uncertainties, a robust control approach is needed to stabilize the posture of the TWIP. Robust Model Predictive Control (RMPC) based on linear matrix inequality (LMIs) is addressed to an optimization problem of the “worst-case”...
In this paper we are presenting a method, which is developed as a part of our framework for designing complex robotic vehicle systems, to test a power train of a robotic concept car according to the real driving characteristic from telemetry data gathered from a subset of a pilot electric vehicle fleet in northern Germany in Hardware-in-the-Loop. Our aim is to investigate the driving performance of...
The modular robot is constructed by the same shape and function module. The robot can transform and exchange, because it is multiple modules and function. In previous paper, we manufactured the module by 3D printer, and evaluated the mechanical function of the simple module and modular robot. In this paper, the module is miniaturized and joint parts are improved. Joint parts are used tenon joint in...
This work deals with the trajectory tracking control problem for a kind of underactuated wheeled mobile robots: car with a double steering mode (Bis-Car). The control law is designed using an adaptive sliding mode control (ASMC) in order to achieve a robust control while avoiding the chatter effect engendered by sliding modes and the overestimation of the control gain. Among existing methods of ASMC,...
In this paper a unified motion control and planning algorithm dedicated for the waypoint following task realized by a skid-steering is presented. In order to reduce excessive slip effects between robot wheels and ground it is assumed that the vehicle moves with bounded velocities and accelerations. The motion controller has been designed using formal methods to ensure asymptotically stable tracking...
Autonomous and semi-autonomous smoothly interruptible trajectories are developed which are highly suitable for application in tele-operated mobile robots, operator on-board military mobile ground platforms, and other mobility assistance platforms. These trajectories will allow a navigational system to provide assistance to the operator in the loop, for purpose built robots or remotely operated platforms...
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