A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm

Zhan, Gan; Niu, Shaohua; Zhang, Wencai; Zhou, Xiaoyan; Pang, Jinhui; Li, Yingchao; Zhan, Jigang

doi:10.3390/s22030770

Cited by 7 publications

(2 citation statements)

References 22 publications

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“…For mechanical stabilization, the response of the three-DOF gimbal to large-angle sine signals is demonstrated by comparing the angle data, which were measured by the IMUs attached to the pedestal and camera. In this experiment, a Stewart platform was used as the source of external vibrations to simulate the influence of wave fluctuations on camera motion [ 24 ]. The Stewart platform was set to move with only three degrees of rotational freedom as a sine function.…”

Section: Results and Analysismentioning

confidence: 99%

A Hierarchical Stabilization Control Method for a Three-Axis Gimbal Based on Sea–Sky-Line Detection

Xin

Kong

et al. 2022

Sensors

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Obtaining a stable video sequence for cameras on surface vehicles is always a challenging problem due to the severe disturbances in heavy sea environments. Aiming at this problem, this paper proposes a novel hierarchical stabilization method based on real-time sea–sky-line detection. More specifically, a hierarchical image stabilization control method that combines mechanical image stabilization with electronic image stabilization is adopted. With respect to the mechanical image stabilization method, a gimbal with three degrees of freedom (DOFs) and with a robust controller is utilized for the primary motion compensation. In addition, the electronic image stabilization method based on sea–sky-line detection in video sequences accomplishes motion estimation and compensation. The Canny algorithm and Hough transform are utilized to detect the sea–sky line. Noticeably, an image-clipping strategy based on prior information is implemented to ensure real-time performance, which can effectively improve the processing speed and reduce the equipment performance requirements. The experimental results indicate that the proposed method for mechanical and electronic stabilization can reduce the vibration by 74.2% and 42.1%, respectively.

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Section: Results and Analysismentioning

confidence: 99%

A Hierarchical Stabilization Control Method for a Three-Axis Gimbal Based on Sea–Sky-Line Detection

Xin

Kong

et al. 2022

Sensors

Self Cite

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“…The MillibotTrains (Brown et al , 2002; Navarro et al , 2002) were equipped with active pins and passive holes at the front and rear ends, and there were movable limit pins in the active pins to enable connection and separation between adjacent modules. Aiming at the problem of unmanned reconfiguration and docking of ground vehicles under complex working conditions, Gan Zhan (Zhan et al , 2022) designed a piece of docking equipment composed of an active mechanism based on a six-degree-of-freedom platform and a locking mechanism with multisensors, which met the requirements of high precision and smooth docking. Zhicheng Sun (Sun et al , 2022) proposed an elliptical–helical pipe docking mechanism with a high tolerance for linear and angular misalignment, and superior dynamic performance during docking for on-orbit berthing-based refueling.…”

Section: Introductionmentioning

confidence: 99%

Cone–hole docking mechanism for a modular reconfigurable mobile robot and its characteristic analysis

Tang

Huang

Zhao³

et al. 2023

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Purpose The purpose of this paper is that the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment under the connection of the cone–hole docking mechanism. Design/methodology/approach An arc-shaped docking cone head with a posture-maintaining spring and two arc-shaped connecting rods that formed a ring round hole were designed to achieve large tolerance docking. Before active locking, the coordination between structures was used to achieve passive locking, which mitigated the docking impact of modular robots in unstructured environment. Using the locking ring composed of the two arc-shaped connecting rods, open-loop and closed-loop motion characteristics were obtained through the mutual motion of the connecting rod and the sliding block to achieve active locking, which not only ensured high precision docking, but also achieved super docking stability. Findings The cone–hole docking mechanism had the docking tolerance performance of position deviation of 6mm and pitch deviation of 8° to achieve docking of six degrees of freedom (6-DOF), which had a load capacity of 230 N to achieve super docking stability. Under the connection of the cone–hole docking mechanism, the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment. Originality/value Based on mechanical analysis of universal models, a cone–hole docking mechanism combining active and passive functions, six-dimensional constraints could be implemented, was proposed in this paper. The characteristics of the posture-maintaining spring in the cone docking head and the compression spring at the two ends of two arc-shaped connecting rods were used to achieve docking with large tolerance. Passive locking and active locking modules were designed, mitigating impact load and the locking did not require power to maintain, which not only ensured high precision docking, but also achieved super docking stability.

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Vehicle vibration test platform structure design and control strategy optimization

Xi,

Guo,

Wang

et al. 2024

Adv Control Appl

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For the needs of vehicle vibration test platform with high precision, large load capacity and fast response, the three‐dimensional model design and analysis of vehicle vibration test platform are carried out; in order to improve the motion performance of the platform, a vibration test plat‐form control strategy combining hybrid heuristic algorithm and PID control is proposed. Based on the designed 3D model parameters, the single‐channel mathematical model of the servo‐electric cylinder is derived and a hybrid heuristic algorithm PID optimization model is established to compare and analyze the control performance of the platform with the Ziegler‐Nichols method PID. The results show that the step system overshoot is 3.80% and the dynamic performance of the system is significantly improved when the hybrid heuristic algorithm PID control is used. The simulation system model of vehicle vibration test platform control is established, and the operation results show that the platform is closer to the input signal in the spatial position change curve when the hybrid heuristic algorithm PID control is used. Its maximum displacement error is 0.09 mm, and the motion accuracy of the system is improved by 61% compared with the Ziegler‐Nichols method PID control.

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A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm

Cited by 7 publications

References 22 publications

A Hierarchical Stabilization Control Method for a Three-Axis Gimbal Based on Sea–Sky-Line Detection

A Hierarchical Stabilization Control Method for a Three-Axis Gimbal Based on Sea–Sky-Line Detection

Cone–hole docking mechanism for a modular reconfigurable mobile robot and its characteristic analysis

Vehicle vibration test platform structure design and control strategy optimization

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