scholarly journals Design and Motion Planning of a Biped Climbing Robot with Redundant Manipulator

2019 ◽  
Vol 9 (15) ◽  
pp. 3009 ◽  
Author(s):  
Qing Chang ◽  
Xiao Luo ◽  
Zhixia Qiao ◽  
Qian Li
Keyword(s):  
Motion Planning ◽  
Degrees Of Freedom ◽  
System Development ◽  
Robotic Systems ◽  
Climbing Robot ◽  
Redundant Manipulator ◽  
Railway Bridges ◽  
Planning Algorithm ◽  
Inspection Tasks ◽  
Maintenance And Inspection

A novel robot capable of performing maintenance and inspection tasks for railway bridges is proposed in this paper. Termed CMBOT (climbing manipulator robot), the robot is a combination of a five-degrees-of-freedom (5-Dof) biped climbing robot with two electromagnetic feet and a redundant manipulator with 7-Dof. This capability offers important advantages for performing maintenance and inspection tasks for railway bridges. Several fundamental issues of the CMBOT, such as robotic system development and motion planning algorithms, are addressed in this paper. A series of simulations and prototype experiments were conducted to validate the proposed robotic systems and motion planning algorithm. The results of the experiments show the reliability of the robotic systems and the efficiency of the motion planning algorithm.

scholarly journals Motion Planning for Vibration Reduction of a Railway Bridge Maintenance Robot with a Redundant Manipulator

Electronics ◽  
2021 ◽  
Vol 10 (22) ◽  
pp. 2793
Author(s):  
Qing Chang ◽  
Huaiwen Wang ◽  
Dongai Wang ◽  
Haijun Zhang ◽  
Keying Li ◽  
...  
Keyword(s):  
Motion Planning ◽  
Obstacle Avoidance ◽  
Vibration Reduction ◽  
Railway Bridge ◽  
Climbing Robot ◽  
Redundant Manipulator ◽  
Tracking Errors ◽  
Quintic Polynomial ◽  
Inspection Tasks ◽  
Maintenance And Inspection

Motivated by the potential applications of maintenance and inspection tasks for railway bridges, we have developed a biped climbing robot. The biped climbing robot can climb on the steel guardrail of the railway bridge with two electromagnetic feet and implement the maintenance and inspection tasks by a redundant manipulator with 7 degrees of freedom. To reduce the vibration of the manipulator caused by the low rigidity of the guardrail and the discontinuous trajectories of joints, a motion planning algorithm for vibration reduction is proposed in this paper. A geometric path accounting for obstacle avoidance and the manipulator’s center of gravity is determined by the gradient projection method with a singularity-robust inverse. Then, a piecewise quintic polynomial S shape curve with a smooth jerk (derivative of joint angular acceleration) profile is used to interpolate the sequence of joint angular position knots that are transformed from the via-points in the obstacle-avoidance path. The parameters of the quintic polynomial S-curve are determined by a nonlinear programming problem in which the objective function is to minimize the maximus of the torque exerted by the manipulator on the guardrail throughout the jerk-continuous trajectory. Finally, a series of simulation experiments are conducted to validate the effectiveness of the proposed algorithm. The simulation results show that the tracking errors of the trajectory with the proposed optimization algorithm are significantly smaller than the tracking errors of the trajectory without optimization. The absolute values of mean deviation of the tracking errors of the three coordinate axes decreased by at least 48.3% compared to the trajectory without vibration-reduction in the triangle working path and linear working path trajectory following simulations. The analysis results prove that the proposed algorithm can effectively reduce the vibration of the end effector of the manipulator.

OPTIMAL MOTION PLANNING OF A PLANAR PARALLEL MANIPULATOR WITH KINEMATICALLY REDUNDANT DEGREES OF FREEDOM

2016 ◽  
Vol 40 (3) ◽  
pp. 383-397 ◽  
Author(s):  
Bahman Nouri Rahmat Abadi ◽  
Sajjad Taghvaei ◽  
Ramin Vatankhah
Keyword(s):  
Motion Planning ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Redundant Manipulator ◽  
Optimal Motion ◽  
Planar Parallel Manipulator ◽  
Optimal Motion Planning ◽  
Planning Algorithm ◽  
Actuation Method

In this paper, an optimal motion planning algorithm and dynamic modeling of a planar kinematically redundant manipulator are considered. Kinematics of the manipulator is studied, Jacobian matrix is obtained and the dynamic equations are derived using D’Alembert’s principle. Also, a novel actuation method is introduced and applied to the 3-PRPR planar redundant manipulator. In this approach, the velocity of actuators is determined in such a way to minimize the 2-norm of the velocity vector, subjected to the derived kinematic relations as constraints. Having the optimal motion planning, the motion is controlled via a feedback linearization controller. The motion of the manipulator is simulated and the effectiveness of the proposed actuation strategy and the designed controller is investigated.

A real-time motion planning algorithm for a hyper-redundant set of mechanisms

Robotica ◽  
2013 ◽  
Vol 31 (8) ◽  
pp. 1327-1335 ◽  
Author(s):  
Nir Shvalb ◽  
Boaz Ben Moshe ◽  
Oded Medina
Keyword(s):  
Motion Planning ◽  
Real Time ◽  
Configuration Space ◽  
Degrees Of Freedom ◽  
Morse Function ◽  
Climbing Robot ◽  
Probabilistic Algorithm ◽  
Road Map ◽  
Time Motion ◽  
Planning Algorithm

SUMMARYWe introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space${\EuScript C}$. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace${\EuScript O}$. We define a varying potential fieldfon ∂${\EuScript O}$as a Morse function and follow$\vec{\nabla} f$. We then exemplify our algorithm on a redundant worm climbing robot withndegrees of freedom and compare our algorithm running results with those of the PRM.

scholarly journals Lagrangian Jacobian Motion Planning: A Parametric Approach

2016 ◽  
Vol 85 (3-4) ◽  
pp. 511-522 ◽  
Author(s):  
Ida Góral ◽  
Krzysztof Tchoń
Keyword(s):  
Motion Planning ◽  
System Performance ◽  
Orthogonal Series ◽  
Robotic Systems ◽  
Planning Problem ◽  
Rolling Ball ◽  
Control Functions ◽  
Planning Algorithm ◽  
Jacobian Motion Planning ◽  
Motion Planning Problem

AbstractThis paper addresses the motion planning problem of nonholonomic robotic systems. The system’s kinematics are described by a driftless control system with output. It is assumed that the control functions are represented in a parametric form, as truncated orthogonal series. A new motion planning algorithm is proposed based on the solution of a Lagrange-type optimisation problem stated in the linear approximation of the parametrised system. Performance of the algorithm is illustrated by numeric computations for a motion planning problem of the rolling ball.

Climbot: A Bio-Inspired Modular Biped Climbing Robot—System Development, Climbing Gaits, and Experiments

2016 ◽  
Vol 8 (2) ◽  
Author(s):  
Yisheng Guan ◽  
Li Jiang ◽  
Haifei Zhu ◽  
Wenqiang Wu ◽  
Xuefeng Zhou ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
System Development ◽  
Mobile Manipulator ◽  
Climbing Robot ◽  
Robot System ◽  
High Rise ◽  
Potential Applications ◽  
In Series ◽  
Manipulation Task ◽  
Robotic Applications

Agriculture, forestry, and building industry would be prospective fields of robotic applications. High-rise tasks in these fields require robots with climbing skills. Motivated by these potential applications and inspired by animal climbing motion, we have developed a biped climbing robot—Climbot. Built with a modular approach, the robot consists of five joint modules connected in series and two special grippers mounted at the ends, with the scalability of changing degrees-of-freedom (DoFs). With this configuration, Climbot not only has superior mobility on multiple climbing media, such as poles and trusses, but also has the function of grasping and manipulating objects. It is a kind of “mobile” manipulator and represents an advancement in development of climbing robots. In this paper, we first present the development of this climbing robot with modular and bio-inspired methods, and then propose and compare three climbing gaits based on the unique configuration and features of the robot. A series of challenging and comprehensive experiments with the robot climbing in a truss and performing an outdoor manipulation task are carried out, to illustrate the feasibility, the features, the climbing, and manipulating functions of the robot, and to verify the effectiveness of the proposed gaits.

scholarly journals Design and Development of a Climbing Robot for Wind Turbine Maintenance

2021 ◽  
Vol 11 (5) ◽  
pp. 2328
Author(s):  
Jui-Hung Liu ◽  
Kathleen Padrigalan
Keyword(s):  
Wind Turbine ◽  
Computer Aided Design ◽  
Low Cost ◽  
Weather Conditions ◽  
Prototype Model ◽  
Climbing Robot ◽  
Design And Development ◽  
Stepper Motors ◽  
Inspection Tasks ◽  
Maintenance And Inspection

The evolution of the wind turbine to generate carbon-free renewable energy is rapidly growing. Thus, performing maintenance and inspection tasks in high altitude environments or difficult to access places, and even bad weather conditions, poses a problem for the periodic inspection process of the wind turbine industry. This paper describes the design and development of a scaled-down prototype climbing robot for wind turbine maintenance to perform critical tower operations. Thus, the unique feature of this maintenance robot is the winding mechanism, which uses a tension force to grip on the tower surface without falling to the ground either in static or dynamic situations, with the locomotion to perform a straight up–down motion in a circular truncated cone and the stability to work at significant heights. The robot computer-aided design (CAD) model of the mechanical mechanism, force and structural analysis, and the testing of the prototype model, are addressed in this paper. The key hardware developments that were utilized to build a low-cost, reliable and compact climbing robot are the embedded microprocessors, brushed DC motors, stepper motors and steel rope. This paper concludes with a successful preliminary experiment of a scaled down prototype proving the functionality of the concept. The potential applications for this robot are industrial maintenance, inspection and exploration, security and surveillance, cleaning, painting, and welding at extreme height conditions.

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