Dynamics and input–output feedback linearization control of a wheeled mobile cable-driven parallel robot

Korayem, M. H.; Yousefzadeh, M.; Manteghi, S.

doi:10.1007/s11044-016-9543-6

Cited by 16 publications

(10 citation statements)

References 14 publications

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“…The kinematic equations presented in this paper were derived from a study by Korayem et al [3] in detail. However, for the sake of introducing the variables, this section presents the de nition of the variables and kinematics of the system.…”

Section: Kinematic Equationsmentioning

confidence: 99%

“…The expression of the coe cient matrices, C 1 and C 2 , and the Jacobian matrix, , are provided in [3].…”

Section: Kinematic Equationsmentioning

confidence: 99%

“…The CPM was controlled using a typical sliding mode method. Korayem et al [3] presented Feedback Linearization (FL) control of a 6-DOF under-constrained cablesuspended manipulator with a wheeled mobile platform. For the same robotic system, Korayem et al [4] incorporated cable sagging in the calculation while the end-e ector and the wheeled platform were controlled independently.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive Control of a Cable-Actuated Parallel Manipulator Mounted on a Platform with Differential Wheels under Payload Uncertainty

Korayem

Yousefzadeh

2018

Scientia Iranica

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Cable-actuated Parallel Manipulators (CPMs) are widely employed for object handling applications. In order to displace the carried object along the ground to an unlimited distance, CPMs can be mounted on Wheeled Mobile Robots (WMRs). The derivation of the dynamic equations of motion for this integrated system is presented using the Lagrange method. Since the inertia of the moving load is the main source of uncertainty in the load-carrying task, an adaptive control approach is considered for the CPM, whereas the WMR uses the feedback linearized sliding mode approach. In order to maintain the end-e ector of the CPM in its relative workspace in the WMR frame, the convergence rate in the two controllers should be similar. Decentralization of the control law can be accomplished if the inertia of the CPM motors is negligible compared with that of other systems. This assumption is shown to be applicable if an introduced index is small enough to have noticeable e ect on the tracking error.

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Section: Kinematic Equationsmentioning

confidence: 99%

“…The expression of the coe cient matrices, C 1 and C 2 , and the Jacobian matrix, , are provided in [3].…”

Section: Kinematic Equationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive Control of a Cable-Actuated Parallel Manipulator Mounted on a Platform with Differential Wheels under Payload Uncertainty

Korayem

Yousefzadeh

2018

Scientia Iranica

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“…19 The control algorithm using this feedback linearization method is presented for a wheeled mobile cable-driven parallel robot. 20,21 To avoid obstacles through the structural transformation of the robot, a perfect perception system is essential. Usually, such information cannot be collected from only one sensor.…”

Section: Introductionmentioning

confidence: 99%

Design and control of a variable structure robot

Zhao

Song

2020

International Journal of Advanced Robotic Systems

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Because wheeled mobile robots have so many applications in warehouse logistics, improving their ability to adapt to the environment has been the subject of extensive research. To enhance the traffic and obstacle avoidance capabilities of wheeled robots, a wheeled mobile robot with a transformable chassis is proposed in this article for use in an automated warehouse. The robot can not only move in all directions but also change its chassis structure according to the specific warehouse environment. First, the robot structure is designed, and the motion modes of the robot are analyzed. After kinematics analysis is performed, a kinematics model is presented. In addition, with the goal of trajectory tracking and indoor positioning, a sliding mode controller and an extended Kalman filter controller are designed. Then, the effectiveness of the kinematics model and the controller design is verified by computer simulation. Finally, a physical prototype of the robot is built and the effectiveness of the robot is demonstrated through experiments.

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“…In ref. [17], two platforms were combined: a mobile robot with wheels and a parallel robot driven by a cable to obtain the combined kinematic and dynamics equations. These equations were linearized by the output feedback to obtain the controller, which was validated in a numerical simulation and real-time experiments.…”

Section: Introductionmentioning

confidence: 99%

A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations

2019

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SummaryIn this paper, the feedback linearization approach is used to introduce a motion controller for unicycle-type wheeled mobile robots (UWMRs). The output function is defined as a linear combination of the error state. The novel scheme is firstly tested in numerical simulation and compared with its corresponding experimental result. Three controllers are taken from the literature and compared to the proposed approach by means of experiments. The gains of the experimentally tested controllers are selected to obtain identical energy consumption. The Optitrack commercial vision system and Pioneer P3-DX UWMR are used in real-time experimental tests. In addition, two sets of experimental results for different motion tasks are provided. The results show that the proposed controller presents the best tracking accuracy.

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Dynamics and input–output feedback linearization control of a wheeled mobile cable-driven parallel robot

Cited by 16 publications

References 14 publications

Adaptive Control of a Cable-Actuated Parallel Manipulator Mounted on a Platform with Differential Wheels under Payload Uncertainty

Adaptive Control of a Cable-Actuated Parallel Manipulator Mounted on a Platform with Differential Wheels under Payload Uncertainty

Design and control of a variable structure robot

A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations

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