Dynamic model of end-effector actuator used for mobile robotic weeder

Ivanov, A. G.; Жога, В. В.; Pavlovsky, V E; Vorobyeva, Natalia S

doi:10.1088/1757-899x/747/1/012084

Cited by 2 publications

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“…We assume that the mechanism of movement of the working body consists of seven masses: the mass of the rod of the first executive link together with the mass of the slider m . Since the weeding robot is a multi-mass mechanism, the dynamics of its movements is described by a system of nonlinear differential equations, which are formed using the Lagrange equations with indeterminate multipliers with additional holonomic connections [9].…”

Section: Complete Model Of Manipulator Dynamicsmentioning

confidence: 99%

A dynamic algorithm for stabilization of the working body of a mobile robot weeding for the future of agriculture

Ivanov

Жога

Vorobyeva

et al. 2022

IOP Conf. Ser.: Earth Environ. Sci.

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The article considers the development of a control algorithm for the actuating links of a manipulator with a parallel-serial structure. The authors suggest a two-stage procedure for resolving the problem of controlling the robot operating body motion into a set neighborhood of the final state for a set time. The first stage covers the process of solving the problem of defining the manipulator generalized coordinates at the set coordinates of the operating body. Then the problem of determining the laws of the formation of reference influences for the actuators is solved, which ensures the movement of the working body in the vicinity of a given point. The technique for the synthesis of dynamic algorithms for stabilizing the effector relative to a given position and implementing the program paths is based on generating the control signals of actuators by solving the inverse dynamic problem using a control signal generation algorithm provided that deviations from the current program path values are the solutions of a second-order differential equation. The laws of change in control voltages are obtained. The results of numerical modeling are presented, confirming the efficiency of the proposed algorithm on the example of a specific manipulator.

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Section: Complete Model Of Manipulator Dynamicsmentioning

confidence: 99%

A dynamic algorithm for stabilization of the working body of a mobile robot weeding for the future of agriculture

Ivanov

Жога

Vorobyeva

et al. 2022

IOP Conf. Ser.: Earth Environ. Sci.

Self Cite

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“…Using the expressions of kinetic energy and the equations of holonomic constraints (13, 14), obtain five differential equations describing the weeding robot mechanism dynamics [9] Under the known laws of motion of the operating body of the manipulator, from the expressions the driving forces ( ), 1 3 i F t i   are obtained providing for the execution of the programmed motion; in addition, the values of dynamic loads in kinematic pairs are defined.…”

Section: T T T T T T     mentioning

confidence: 99%

Development of methods for automatic control of manipulator drives of mobile weeding robot with parallel-serial structure

2020

Robots in Human Life

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The work solved the problem of positioning -determining the lengths of the actuating links of the manipulator with a parallel-serial structure at a given position of the operating body. A kinematic algorithm for manipulator position stabilization in a given final state is synthesized. A mathematical model of the spatial controlled motion dynamics of the operating body as a multi-mass system is developed. The control efforts change laws are obtained.The article considers the development of a control algorithm for the actuating links of a manipulator with a parallel-serial structure. The authors suggest a two-stage procedure for resolving the problem of controlling the robot operating body motion into a set neighborhood of the final state for a set time. The first stage covers the process of solving the problem of defining the manipulator generalized coordinates at the set coordinates of the operating body.The problem solution is of an optimization nature. The second stage proceeds with the resolving of the problem of defining the laws of the setting action formation for the actuating drives responsible for the operating body motion in the set point neighborhood. The programmed path correction is done in such a way that at any specific time it moves through a set position of the operating body while the deviations from the final state of actuating links change according to the solution of the formed differential equation. The authors develop a mathematical model for the dynamics of the operating body motion taking into account it is a multi-mass system. The article provides the obtained laws regulating changes in control forces. Finally, the authors give the results of computational modeling to prove the algorithm practical efficiency by the example of a specific manipulator.

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Dynamic model of end-effector actuator used for mobile robotic weeder

Abstract: A mathematical model was developed for dynamics of spatial controlled movements of end-effector being a multi-mass electromechanical system.

Cited by 2 publications

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A dynamic algorithm for stabilization of the working body of a mobile robot weeding for the future of agriculture

A dynamic algorithm for stabilization of the working body of a mobile robot weeding for the future of agriculture

Development of methods for automatic control of manipulator drives of mobile weeding robot with parallel-serial structure

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