Damping and Transfer Control of Liquid in a Cylindrical Container Using a Wheeled Mobile Robot

2005 ◽  
Vol 17 (5) ◽  
pp. 546-552 ◽  
Author(s):  
Masafumi Hamaguchi ◽  
◽  
Takao Taniguchi
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Curvature Radius ◽  
Input Shaping ◽  
Cylindrical Container ◽  
Constraint Condition ◽  
Spherical Pendulum ◽  
Control Transfer ◽  
Pendulum Model ◽  
Path Curvature

We constructed a spherical pendulum model to represent liquid sloshing in a cylindrical container due to the motions of a wheeled mobile robot (WMR). The model is used to design paths and acceleration patterns for the WMR based on the damping of sloshing. The path curvature radius and WMR acceleration pattern are determined using input shaping. A PD controller enables the WMR to trace the designed path. Maximum sloshing displacement is a constraint condition in control transfer. Simulations and experiments clarified the effectiveness of our method.

Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction

2009 ◽  
Vol 21 (5) ◽  
pp. 642-646 ◽  
Author(s):  
Masafumi Hamaguchi ◽  
◽  
Takao Taniguchi
Keyword(s):  
Kalman Filter ◽  
Mobile Robot ◽  
Vibration Reduction ◽  
Wheeled Mobile Robot ◽  
Experimental Results ◽  
Cylindrical Container ◽  
Damping Control ◽  
Direction Of Movement ◽  
Active Vibration ◽  
Servo Controller

Damping control we propose for sloshing in cylindrical containers carried by a wheeled mobile robot enables the container to tilt independently in the direction of movement and orthogonally through the use of a dual-swing active-vibration reducer. The robot follows a curved sloping path. Sloshing generated by robot movement is damped by the vibration reducer, which keeps the container level on a slope. Vibration reduction is managed by an optimal servo controller having a Kalman filter. Experimental results demonstrate our damping control proposal's usefulness and feasibility.

The Optimized Point Stabilization Control for Robots Based on Bézier Planning

2012 ◽  
Vol 229-231 ◽  
pp. 2266-2269
Author(s):  
Yan Hong Du ◽  
Wei Yu Zhang ◽  
Xin Song ◽  
Yuan Liu ◽  
Ruo Kui Chang
Keyword(s):  
Mobile Robot ◽  
Route Planning ◽  
Penalty Functions ◽  
Wheeled Mobile Robot ◽  
Planning Method ◽  
Control Parameters ◽  
Constraint Condition ◽  
Constrained System ◽  
Stabilization Control ◽  
Point Stabilization

In this paper, the optimized point stabilization control of nonholonomic wheeled mobile robot has been researched, and point stabilization control of constraint nonholonomic wheeled system has been achieved through the geometry planning method based on Bézier, and constrained system is converted to un-constraint optimized question based on introducing penalty functions. The optimized control parameters has been got through Hooke-Jeeves method to achieve the perfect combination of the optimized route planning and optimized control, which can make the robot achieve the target pose under the constraint condition and improve the smooth of move path and reduce the stable time. The controller's validity is proved by the experiment.

Regular perturbations to the motion of a three-wheeled mobile robot with the front-wheel drive under restricted state variables*

2020 ◽  
Author(s):  
Roman Chertovskih ◽  
Anna Daryina ◽  
Askhat Diveev ◽  
Dmitry Karamzin ◽  
Fernando L. Pereira ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Front Wheel ◽  
Wheeled Mobile Robot ◽  
State Variables ◽  
Wheel Drive

Recent Patents on Omni-Directional Wheel Applied on Wheeled Mobile Robot

2016 ◽  
Vol 9 (3) ◽  
pp. 215-221
Author(s):  
Junpeng Shao ◽  
Tianhua He ◽  
Jingang Jiang ◽  
Yongde Zhang
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot
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