ROS Based, Simulation and Control of a Wheeled Robot using Gamer’s Steering Wheel

2018 ◽  
Author(s):  
Rajesh Kannan Megalingam ◽  
Deepak Nagalla ◽  
Ravi Kiran Pasumarthi ◽  
Vamsi Gontu ◽  
Phanindra Kumar Allada
Keyword(s):  
Steering Wheel ◽  
Wheeled Robot ◽  
Simulation And Control ◽  
And Control

Analysis and Control of an In-Pipe Wheeled Robot With Spiral Moving Capability

2020 ◽  
Vol 1 (1) ◽  
Author(s):  
T.-J. Yeh ◽  
Tzu-Hsiang Weng
Keyword(s):  
Steering Wheel ◽  
Algebraic Operation ◽  
Successful Operation ◽  
Steering Angle ◽  
Differential Drive ◽  
Lead Angle ◽  
Wheeled Robot ◽  
Inclination Angles ◽  
State Force ◽  
And Control

Abstract This article presents analysis and control of a wheeled robot that can move spirally inside the pipeline. The wheeled robot considered is composed of two mechanical bodies, a pair of differential-drive wheels, a lifting motor, and a steering wheel. The mechatronic design allows the robot to easily press against the inner wall and spiral along pipelines of arbitrary inclination angles. Kinematic analysis shows how the lead angle of the differential-drive wheels and the steering angle should be coordinated so as to achieve stable spiraling. The steady-state force analysis further gives an analytic expression for the threshold torque needed for supporting the robot at different inclination angles. To ensure successful operation of the robot, four control systems that respectively regulate the spiraling speed, the lifting torque, the steering angle, and the lead angle are devised. Particularly for the lead angle control, it is theoretically proved that the feedback measurement can be obtained by performing algebraic operation on signals from a multi-axis gyro. A prototype robot is constructed and is controlled based on the analysis results. Experiments are conducted to verify the robot’s performance on moving spirally in pipelines of different inclination angles.

SIMULATION AND CONTROL OF FLOODS IN A WATER NETWORK. CASE STUDY OF JIJIA RIVER CATCHMENT

2017 ◽  
Vol 16 (3) ◽  
pp. 587-595
Author(s):  
Vasile Mircea Cristea ◽  
Ph.m Thai Hoa ◽  
Mihai Mogos-Kirner ◽  
Csavdari Alexandra ◽  
Paul Serban Agachi
Keyword(s):  
Water Network ◽  
River Catchment ◽  
Simulation And Control ◽  
And Control

Case study: Simulation and control of high frequency noise for commercial vehicle cab considering leak

2019 ◽  
Vol 67 (4) ◽  
pp. 315-329
Author(s):  
Rongjiang Tang ◽  
Zhe Tong ◽  
Weiguang Zheng ◽  
Shenfang Li ◽  
Li Huang
Keyword(s):  
High Frequency ◽  
Commercial Vehicle ◽  
Frequency Noise ◽  
High Frequency Noise ◽  
Simulation And Control ◽  
And Control

A Robotic Framework for Simulation and Control of SCARA Robot Based on ROS

2019 ◽  
Author(s):  
Ujwal Shirode ◽  
Aishwarya Aher ◽  
Pallavi Bale ◽  
Aishwarya Kadam
Keyword(s):  
Scara Robot ◽  
Simulation And Control ◽  
And Control

The use of dilute acetic acid for butyl acetate production in a reactive distillation: Simulation and control studies

2008 ◽  
Vol 25 (6) ◽  
pp. 1252-1266 ◽  
Author(s):  
Amornchai Arpornwichanop ◽  
Chantarawadee Wiwittanaporn ◽  
Suthida Authayanun ◽  
Suttichai Assabumrungrat
Keyword(s):  
Acetic Acid ◽  
Butyl Acetate ◽  
Reactive Distillation ◽  
Acetate Production ◽  
Simulation And Control ◽  
Distillation Simulation ◽  
And Control
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