Design, Modeling, and Control of a New Manipulating Climbing Robot Through Infrastructures Using Adaptive Force Control Method
TL;DR: A grip-based climbing robot designed to accomplish the climbing process through the trusses and infrastructures in order to perform inspecting and manipulating tasks and can successfully climb through a truss and perform its operating task by the aid of the employed adaptive controller in an accurate way.
Abstract: In this paper, design, modeling, and control of a grip-based climbing robot are performed, which consists of a triangular chassis and three actuating legs. This robot can climb through any trusses, pipeline, and scaffolds structures and can perform any inspectional and operational tasks in the high height which decreases the falling danger of operation and increases the safety of the workers. The proposed robot can be substituted for the workers to decrease the risk of death danger and increase the safety of the operation. Since these kinds of infrastructures are truss shaped, the traditional wheel-based climbing robots are not able to travel through these structures. Therefore, in this paper, a grip-based climbing robot is designed to accomplish the climbing process through the trusses and infrastructures in order to perform inspecting and manipulating tasks. Hence, a proper mechanism for the mentioned robot is designed and its related kinematic and kinetic models are developed. Robot modeling is investigated for two different modes including climbing and manipulating phases. Considering the redundancy of the proposed robot and the parallel mechanism employed in it, the active joints are selected in a proper way and its path planning is performed to accomplish the required missions. Concerning the climbing mode, the required computed torque method (CTM) is calculated by the inverse dynamics of the robot. However, for the manipulation mode, after path planning, two controlling strategies are employed, including feedback linearization (FBL) and adaptive force control, and their results are compared as well. It is shown that the latter case is preferable since the external forces implemented on the end effector tool is not exactly predetermined and thus, the controller should adapt the robot with the exerted force pattern of the manipulator. The modeling correctness is investigated by performing some analytic and comparative simulation scenarios in the MATLAB and comparing the results with the MSC-ADAMS ones, for both climbing and manipulating phases. The efficiency of the designed controller is also proved by implementing an unknown force pattern on the manipulator to check its efficiency toward estimating the mentioned implemented forces and compensating the errors. It is shown that the designed robot can successfully climb through a truss and perform its operating task by the aid of the employed adaptive controller in an accurate way.
Citations
More filters
TL;DR: In this paper, a nonlinear model predictive control (NMPC)-based trajectory tracking control algorithm was proposed for omnidirectional mobile wall-climbing robots, which can attach to non-ferromagnetic surfaces.
Abstract: Omnidirectional mobile wall-climbing robots have better motion performance than traditional wall-climbing robots. However, there are still challenges in designing and controlling omnidirectional mobile wall-climbing robots, which can attach to non-ferromagnetic surfaces. In this paper, we design a novel wall-climbing robot, establish the robot’s dynamics model, and propose a nonlinear model predictive control (NMPC)-based trajectory tracking control algorithm. Compared against state-of-the-art, the contribution is threefold: First, the combination of three-wheeled omnidirectional locomotion and non-contact negative pressure air chamber adhesion achieves omnidirectional locomotion on non-ferromagnetic vertical surfaces. Second, the critical slip state has been employed as an acceleration constraint condition, which could improve the maximum linear acceleration and the angular acceleration by 164.71% and 22.07% on average, respectively. Last, an NMPC-based trajectory tracking control algorithm is proposed. According to the simulation experiment results, the tracking accuracy is higher than the traditional PID controller.
5 citations
TL;DR: In this paper , the authors proposed a climbing robot with simple control and low cost, enabling loaded, which drives by a single motor, based on the overrunning spring clutch mechanisms, two motions of holding and climbing are realized by one motor.
Abstract: Forestry monitoring and high-voltage cable inspection demand on low-cost climbing robots. The proposed climbing robot has simple control and low cost, enabling loaded, which drives by a single motor. Based on the overrunning spring clutch mechanisms, two motions of holding and climbing are realized by one motor. A rope-driven gripper is for adaptive enveloping holding effectively and a thron wheel is used to attach the climbing surface and stable climbing. The design parameters of the overrunning spring clutch mechanism and the rope-driven gripper are determined. The prototype and experiment setup are built. The enveloping holding experiment is carried out to verify the holding stability and shape adaptability of the rope-driven gripper. The trunk and pipe climbing experiments verify the climbing performance of the climbing robot and its application prospects with a certain load. In the future, as a low-cost climbing robot, a camera or operating mechanism can be equipped for tasks.
1 citations
TL;DR: In this article , a climbing robot equipped with a gripper-based locomotion system was designed and manufactured at Kharazmi University to climb scaffold structures and trusses to accomplish inspectional and operational tasks.
Abstract: Abstract There are a lot of high-height structures that should be inspected or manipulated frequently due to maintenance purposes. According to the safety considerations and time or cost limitations, substituting the human operator with an automatic robot is inevitable. The main objective of this paper is to design and manufacture a novel climbing robot equipped with grip-based locomotion system which can climb through scaffold structures and trusses to accomplish inspectional and operational tasks. The proposed robot has good maneuverability and stability. The proposed robot is manufactured in order to verify the simulation results with experimental data. The chassis and its corresponding grippers are designed first, and the corresponding model of the system is extracted. This model is used then for designing the controlling strategy of the system. The path planning of the robot is conducted to realize the climbing process by the robot during several steps in an optimum way. The prototype of the proposed robot is manufactured at Kharazmi University called KharazmBot. Experimental results not only show the capability of the manufactured robot toward ascending the mentioned structures but also prove its high stability as a result of its designed gripper and also its good maneuverability as a result of its over-actuated mechanism. Thus, it is concluded that the designed and manufactured climbing robot of this paper can successfully ascend through the pipes and trusses and perform a desired inspectional or operational task with good accuracy and safety while its stability is also satisfied.
TL;DR: In this paper , an adaptive control scheme based on using neural networks is designed to guarantee the desired behavior of a micro-robot which is equipped with vibrating actuators and follows the principle of slip-stick movement.
Abstract: In this paper, an adaptive control scheme based on using neural networks is designed to guarantee the desired behavior of a micro-robot which is equipped with vibrating actuators and follows the principle of slip-stick movement. There are two tiny shaking motors which have been utilized to run the micro-class robotic system. Dynamic modeling equations are expressed by considering the spring coefficient of the bases. After that, the effect of the spring on the foundations was investigated. In addition to designing neural-based controller, an AI-based system identifier has been developed to help the controller update its parameters and achieve its desired targets. Using this method, several specific paths for the movement of this micro robot are simulated. Based on the simulation results, the proposed controlling strategy guarantees acceptable performance for tracking different paths due to plotted near-zero errors and handles the nonlinear behavior of the micro-robot system. micro-class its but increasing its accuracy of motion. In the control simulations for several different paths for this micro-robot movement have been performed first using the intelligent PID control method. Following that, the Intelligent-Adaptive PID controller was described, and its application was examined. The simulation results indicate an acceptable performance of the robotic system in tracking tasks.
References
More filters
Book•
01 Jan 1991
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Abstract: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
15,545 citations
Book•
22 Mar 1994
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
Abstract: INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises
6,592 citations
Book•
[...]
31 Jul 2000
TL;DR: This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism, Parallel robots, which are becoming increasingly popular in the field of machine-tool industry.
Abstract: Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 150 exercises and numerous internet addresses), researchers (with over650 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results, mistakes to avoid,and applications are presented). Since the publication of the first edition (2000) there has been an impressive increase in terms of study and use of this kind of structure that are reported in this book. This second edition has been completely overhauled. The initial chapter on kinematics has been split into Inverse Kinematics and Direct Kinematics. A new chapter on calibration was added. The other chapters have also been rewritten to a large extent.The reference section has been updated to include around 45% new works that appeared after the first edition.
2,137 citations
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Abstract: A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being estimated online. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. In particular, it requires neither feedback of joint accelerations nor inversion of the estimated inertia matrix. The algorithm can also be applied directly in Cartesian space.
2,117 citations
TL;DR: In this article, the inertial parameters of manipulator rigid-body loads and links have been automatically estimated as a result of gen eral movement, and the Newton-Euler equations have been recast to relate linearly.
Abstract: The inertial parameters of manipulator rigid-body loads and links have been automatically estimated as a result of gen eral movement. The Newton-Euler equations have been recast to relate linearly ...
512 citations