scholarly journals Lateral Stability of a Mobile Robot Utilizing an Active Adjustable Suspension

2019 ◽  
Vol 9 (20) ◽  
pp. 4410
Author(s):  
Hui Jiang ◽  
Guoyan Xu ◽  
Wen Zeng ◽  
Feng Gao ◽  
Kun Chong
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Evaluation Method ◽  
Mathematic Model ◽  
Active Suspension ◽  
Lateral Stability ◽  
Uneven Terrain ◽  
The Stability ◽  
And Control ◽  
The Relationship

Mobile robots are expected to traverse on unstructured terrain, especially uneven terrain, or to climb obstacles or slopes. This paper analyzes one such passively–actively transformable mobile robot that is principally aimed at the above issue. A passive locomotion traverses on a rough and flat terrain; an active reconfiguration with an active suspension. This paper investigates the lateral stability of this mobile robot when it reconfigures itself to adjust its roll angle with the active suspension. The principles and configurations of the robot and its active suspension are presented. To analyze the effects of the suspensions’ inputs on robot stability, a mathematic model of the robot on side slopes is presented. Based on the evaluation method of the stability pyramid theory, an analytical expression representing the relationship between the input of the active suspension (linear actuator length) and stability evaluation index on transverse slopes is obtained. The results show that there is an increase in both the lateral stability and minimum lateral tip-over angle under different ground clearances when adjusting the active inputs. Furthermore, the models presented here provide theoretical references and optimization directions for the design and control of mobile robots with adjustable suspensions.

scholarly journals Effect of Twin Vertical Stabilizers on Lateral Directional Static Stability of an Aircraft – A Computational Study

2022 ◽  
pp. 89-95
Author(s):  
K Ajay Kumar Goud ◽  
Y D Dwivedi
Keyword(s):  
Stability Analysis ◽  
Dynamic Model ◽  
Computational Study ◽  
Static Stability ◽  
Lateral Stability ◽  
Control Parameters ◽  
Stability And Control ◽  
The Stability ◽  
And Control ◽  
The Relationship

The advantages of twin vertical Stabilizers over a single vertical Stabilizer of an aero plane are the rationale for this study. For conventional aero planes, the use of double vertical Stabilizers is being considered. The contribution to lateral stability has been examined for this application. XFLR5 software was used to conduct the overall analysis. The analysis was conducted for a single vertical Stabilizer as well as twin vertical Stabilizers, and the findings were compiled and correlated. It is critical to be able to fully explain and evaluate the stability and control parameters. It is crucial to understand the relationship between the aerodynamics of the airframe and its stability characteristics in order to increase flight endurance and deployment effectiveness. The stability analysis based on the dynamic model of the twin boom vertical Stabilizer is presented in this paper. The lateral-directional stability of an aero plane with a single vertical tail is determined to be 20% more efficient than that with twin boom vertical Stabilizers. The trim condition is moderately satisfied by an aircraft with twin vertical Stabilizers.

MOBILE ROBOT NAVIGATION CONTROL DESIGN USING VIRTUAL SIMULATOR WITH RAPID PROTOTYPING

2009 ◽  
Vol 06 (03) ◽  
pp. 181-191
Author(s):  
LEONIMER FLAVIO DE MELO ◽  
JOSE FERNANDO MANGILI
Keyword(s):  
Rapid Prototyping ◽  
Mobile Robot ◽  
Embedded System ◽  
Mobile Robots ◽  
Mobile Robot Navigation ◽  
Robotic Control ◽  
Dynamic Simulator ◽  
The Embedded System ◽  
And Control ◽  
Control Implementation

This paper presents the virtual environment implementation for simulation and design conception of supervision and control systems for mobile robots, that are capable to operate and adapt in different environments and conditions. The purpose of this virtual system is to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with monitoring in real time of all important system points. For this, an open control architecture is proposed, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module, and an analysis module of results and errors. All the kinematic and dynamic results obtained during the simulation can be evaluated and visualized in graphs and table formats in the results analysis module, allowing the improvement of the system, minimizing the errors with the necessary adjustments and optimization. For controller implementation in the embedded system, it uses the rapid prototyping which is the technology that allows in set, with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplished with nonholonomic mobile robot models with differential transmission.

scholarly journals Analysis, Design, and Control of an Omnidirectional Mobile Robot in Rough Terrain

2009 ◽  
Vol 131 (12) ◽  
Author(s):  
Martin Udengaard ◽  
Karl Iagnemma
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Optimization Method ◽  
Contact Angles ◽  
Design Guidelines ◽  
Rough Terrain ◽  
Uneven Terrain ◽  
Omnidirectional Mobile Robot ◽  
Subsystem Design ◽  
And Control

An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this paper, an investigation of the design and control of an omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the active split offset caster drive mechanism are investigated along with system and subsystem design guidelines. An optimization method is implemented to explore the design space. The use of this method results in a robot that has higher mobility than a robot designed using engineering judgment. A simple kinematic controller that considers the effects of terrain unevenness via an estimate of the wheel-terrain contact angles is also presented. It is shown in simulation that under the proposed control method, near-omnidirectional tracking performance is possible even in rough, uneven terrain.

Design and Control Method of a Planar Omnidirectional Crawler Mechanism

2021 ◽  
pp. 1-29
Author(s):  
Eri Takane ◽  
Kenjiro Tadakuma ◽  
Masahiro Watanabe ◽  
Masashi Konyo ◽  
Satoshi Tadokoro
Keyword(s):  
Control Method ◽  
Soft Soil ◽  
Rough Terrain ◽  
Distribution Centers ◽  
Uneven Terrain ◽  
Large Pressure ◽  
Large Contact Area ◽  
Heavy Loads ◽  
And Control ◽  
The Relationship

Abstract Omnidirectional mobility is a popular method of moving in narrow spaces. In particular, the planar omnidirectional crawler previously developed by the authors can traverse unstable and uneven terrain with a large contact area. A novel point is that the proposed system is unique in its ability to carry heavy loads in all directions without getting stuck because of the large pressure-receiving area between the crawler and ground. This work will facilitate omnidirectional motion, which has important implications for the use of robots in spaces such as not only factories, distribution centers, and warehouses but also soft soil in disaster sites. The objective of the present study was to establish a design and control method for an omnidirectional crawler mechanism that can conduct holonomic and two-axis cross driving. Only two motors are set on the crawler base for translation in the X- and Y-directions, and two large crawler units are arranged for turning. We design a small crawler that has higher traversing ability with a derailment prevention mechanism and tapered track. Further, the relationship between the motor rotational speed as input and crawler velocity as output was verified for control. In addition, it was demonstrated experimentally that the proposed crawler could travel across various types of rough terrain in a target direction.

SAVIC: A SIMULATION, VISUALIZATION AND INTERACTIVE CONTROL ENVIRONMENT FOR MOBILE ROBOTS

1993 ◽  
Vol 07 (01) ◽  
pp. 123-144 ◽  
Author(s):  
CHUXIN CHEN ◽  
MOHAN M. TRIVEDI
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Virtual World ◽  
Control Environment ◽  
Robot System ◽  
Interactive Control ◽  
Dynamic Motion ◽  
Unique System ◽  
Software Modules ◽  
And Control

A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This research is focused on enhancing the overall productivity of an integrated human-robot system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

Localization and Control System of Mobile Robot Based on Wireless Sensor Network

2009 ◽  
Vol 16-19 ◽  
pp. 1133-1137
Author(s):  
Li Xin Guo ◽  
Qiu Ye Huang ◽  
Hua Long Xie ◽  
Jin Li Li ◽  
Zhao Wen Wang
Keyword(s):  
Wireless Sensor Network ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Sensor Network ◽  
Static Condition ◽  
Wireless Sensor ◽  
Mobile Object ◽  
Wireless Localization ◽  
Localization System ◽  
And Control

The localization of mobile robots is one of important problems for navigation of mobile robots. The wireless sensor network, i.e., Cricket wireless localization technology, was used to obtain motive condition of mobile objects in this study. The information transmission between the Cricket localization system and mobile robot system was achieved for localization, navigation and control of the mobile object. The errors of localization sampling data of the Cricket localization system vary within 3cm in a static condition. The Cricket localization system can meet the navigation requirement of the mobile robots.

Tip over Stability Analysis of a Three-Wheeled Mobile Robot Capable of Traversing Uneven Terrains without Slip

2011 ◽  
Vol 110-116 ◽  
pp. 2940-2947 ◽  
Author(s):  
Tharakeshwar Appala ◽  
Ashitava Ghosal
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Free Motion ◽  
Lateral Tilt ◽  
Uneven Terrain ◽  
Stability Measure ◽  
Angle Stability ◽  
The Stability ◽  
Measure Technique

A mobile robot traversing an uneven terrain can undergo tip over instability when one or more wheels of the mobile robot losses contact with the uneven terrain. In this paper, we study the tip over stability of a three wheeled mobile robot. The three wheeled mobile robot studied in this paper has torus shaped rear wheels and have the ability of lateral tilting – a condition required for slip free motion on uneven terrain. The torus shaped wheels and slip free motion makes the dynamics and tip over stability analysis more difficult and interesting. In this paper, the force-angle stability measure technique is used to analyze and detect tip over instability. Simulation results of the stability analysis shows that the wheeled mobile robot with lateral tilt of rear wheels is capable of moving on certain kinds of rough terrains without tip over.

scholarly journals Maximum Allowable Dynamic Load of Mobile Manipulators with Stability Consideration

2015 ◽  
Vol 45 (3) ◽  
pp. 3-22
Author(s):  
H. R. Heidary
Keyword(s):  
Mobile Robot ◽  
Dynamic Load ◽  
System Stability ◽  
Mobile Manipulators ◽  
Uneven Terrain ◽  
Stability Limitation ◽  
The Stability ◽  
Maximum Allowable Dynamic Load ◽  
Stability Consideration ◽  
Mobile Base

Abstract High payload to mass ratio is one of the advantages of mobile robot manipulators. In this paper, a general formula for finding the maximum allowable dynamic load (MADL) of wheeled mobile robot is presented. Mobile manipulators operating in field environments will be required to manipulate large loads, and to perform such tasks on uneven terrain, which may cause the system to reach dangerous tip-over instability. Therefore, the method is expanded for finding the MADL of mobile manipulators with stability consideration. Moment-Height Stability (MHS) criterion is used as an index for the system stability. Full dynamic model of wheeled mobile base and mounted manipulator is considered with respect to the dynamic of non-holonomic constraint. Then, a method for determination of the maximum allowable loads is described, subject to actuator constraints and by imposing the stability limitation as a new constraint. The actuator torque constraint is applied by using a speed-torque characteristics curve of a typical DC motor. In order to verify the effectiveness of the presented algorithm, several simulation studies considering a two-link planar manipulator, mounted on a mobile base are presented and the results are discussed.

scholarly journals Bluetooth Transceivers for Full Duplex Communications in Mobile Robots

2012 ◽  
Author(s):  
Choo S. H. ◽  
Shamsudin H M. Amin ◽  
N. Fisal ◽  
C. F. Yeong ◽  
J. Abu Bakar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Key Words ◽  
Control Unit ◽  
Full Duplex ◽  
Communication Mode ◽  
And Control

Projek ini mengeksplotasi penggunaan Teknologi Bluetooth dalam robot mudah alih. Robot mudah alih mempunyai kebolehan untuk bergerak secara automasi menggunakan algoritma yang rumit dan canggih. Algoritma disimpan dalam sebuah komputer sebagai tuan dan juga “server”. Segala bacaan penderia daripada robot mudah alih akan dihantar kepada tuan dan diproses. Kemudian, arahan untuk langkah seterusnya akan dihantar dari “server” kepada robot mudah alih dalam mode komunikasi dua hala dan dupleks penuh. Maka, “otak” utama berada di "server" dan bukannya pada robot mudah alih. Kertas ini akan memfokus pada perantaraan muka antara Bluetooth transceiver dan Handy Board MC68HC11 mikro pengawal pada robot mudah alih. Untuk kes biasa, satu penerima dan penghantar diperlukan untuk setiap alat (server dan client) masing-masing, tetapi dengan Teknologi Bluetooth, hanya dua Bluetooth transceiver diperlukan untuk mencapai perhubungan dupleks penuh. Projek ini telah menghasilkan robot mudah alih dengan kebolehan Bluetooth. Robot tersebut boleh dikawal secara “wirelessly” melalui Bluetooth transceiver. Kata kunci: Teknologi Bluetooth; dua hala; duplex penuh; automasi; Handy Board This work explores the implementation of Bluetooth technology in mobile robots. The mobile robot has the capability to move around autonomously using complicated and powerful algorithm. The algorithms are stored in the master as the server. All sensor readings from the mobile robot will be transmitted to the master and processed. Then, command or instruction for further action is transmitted from the server to the mobile robot in a bi-directional full duplex communication mode. Hence, the main “brain” is in the server instead of the mobile robot. This paper will focus on the interfacing between Bluetooth tranceiver and Handy Board MC68HC11 micro-controller of mobile robot. For common case, a receiver and transmitter are needed for each device (robot and control unit), but with Bluetooth technology, only two Bluetooth transceivers are needed to achieve full duplex connection. This project has provided a Bluetooth enabled mobile robot. The mobile robot can be controled wirelessly via Bluetooth transceiver. Key words: Bluetooth Technology; bi-directional; full duplex; autonomously; Handy Board

Einsatz und Evaluation mobiler Roboter/Application and Evaluation of mobile robots in industrial environments

2020 ◽  
Vol 110 (09) ◽  
pp. 619-623
Author(s):  
Julia Berg ◽  
Benedikt Leichtmann ◽  
Albrecht Lottermoser ◽  
Verena Nitsch
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Evaluation Method ◽  
Industrial Companies ◽  
Industrial Environments

Im Rahmen des Projekts „FORobotics“ wurden mobile Robotersysteme in industriellen Unternehmen eingesetzt. Um den Einsatz strukturiert zu evaluieren, wurde eine Methode zur Evaluation entwickelt. Der Beitrag beschreibt den Einsatz des mobilen Roboters bei der Mey Maschinenbau Prien GmbH & Co. KG und die Evaluation des Einsatzes mithilfe der entwickelten Methode.   The project FORobotics adressed the application of mobile robots in industrial companies. In order to evaluate structurally the application, an evaluation method was developed. This article describes the application of the mobile robot at Mey Maschinenbau Prien GmbH & Co. KG and the evaluation using the developed method.

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