Mechatronic design and development of a non-holonomic omnidirectional mobile robot for automation of primary production

Sharifi, Mostafa; Young, Matthew; Chen, Xiaoqi; Clucas, Don; Pretty, Christopher G.

doi:10.1080/23311916.2016.1250431

Cited by 17 publications

(13 citation statements)

References 11 publications

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“…Omnidirectional mobile robots were used in many robotic applications due to their movement capabilities, which allow them simultaneously to move towards any position and reach any desired orientation [46][47][48][49]. In contrast to the limit movement capabilities of a conventional mobile robot with two or four wheels due to their nonholonomic kinematics constraints [50].…”

Section: Implementation Of the Adaptive Neuron Pid Controller For An mentioning

confidence: 99%

Adaptive Single Neuron Anti-Windup PID Controller Based on the Extended Kalman Filter Algorithm

et al. 2020

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In this paper, an adaptive single neuron Proportional–Integral–Derivative (PID) controller based on the extended Kalman filter (EKF) training algorithm is proposed. The use of EKF training allows online training with faster learning and convergence speeds than backpropagation training method. Moreover, the propose adaptive PID approach includes a back-calculation anti-windup scheme to deal with windup effects, which is a common problem in PID controllers. The performance of the proposed approach is shown by presenting both simulation and experimental tests, giving results that are comparable to similar and more complex implementations. Tests are performed for a four wheeled omnidirectional mobile robot. Tests show the superiority of the proposed adaptive PID controller over the conventional PID and other adaptive neural PID approaches. Experimental tests are performed on a KUKA® Youbot® omnidirectional platform.

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Section: Implementation Of the Adaptive Neuron Pid Controller For An mentioning

confidence: 99%

Adaptive Single Neuron Anti-Windup PID Controller Based on the Extended Kalman Filter Algorithm

et al. 2020

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“…The payload of the LS3 robot reaches 181 kg. Taking into account the special project background of Boston's dynamic characteristics, the report on the LS3 robot does not have much technical reference data (Shi et al, 2019). So far, hydraulic four-legged motion has always been a critical focus of discussion in current heavy-load robot research.…”

Section: Introductionmentioning

confidence: 99%

Kinematics analysis of a four-legged heavy-duty robot with a force–position hybrid control servo actuator in a parallel-executed cylinder system

Wang

et al. 2021

Mech. Sci.

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Abstract. In this research, an electrohydraulic servo four-legged heavy-duty (FLHD) robot has been designed and developed. The study proposes an integration layout cylinder design scheme for a non-lightweight hydraulic servo four-legged robot with high loads and torques of hip joint and derives the mathematical element analysis model for a parallel-executed cylinder (PEC) system. The multiple inherent characteristics of the PEC integration system model are explored further. Based on the controllable functional requirements of interconnected joints, and to weaken the influence of internal force coupling, a force–position hybrid control scheme for the PEC is designed, and the force–position signal module design unit is used to solve the force–position hybrid control in reverse. Considering the inherent requirements of the servo-executed cylinder (SEC) force control unit module (CUM), the implementation process of magnetic flux compensation and speed compensation is discussed in detail. The minimum amplitude controller is applied to the SEC force CUM, and the proportional integrated controller has been determined in the SEC position CUM. A compound control strategy proposed in this paper is verified on a parallel hydraulic servo platform. The experimental verification results reveal that the values of position/force attenuation amplitude and lag phase are not greater than 9 % and 18∘, respectively. The feasibility of the interconnected implementation of the hybrid control scheme proposed in this paper is further increased. The conclusions of this research will be useful for application in fields of four-legged heavy-load (FLHL) robot control systems.

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“…Depending on the applications, maneuverability and locomotion systems, different types of mobile robots have been designed [3][4]. Due to the great diversity of applications in which mobile robots can be used, there is a need to develop a robotic system as a basic mobile platform that can be integrated into various applications in industry and other economic sectors [5]. The main purpose of this research is to design and develop a concept of modular locomotion for mobile robots that can serve the industrial sector.…”

Section: Introductionmentioning

confidence: 99%

“…The most widespread in the industry is the robots with conventional wheels that offer them mobility and high speed but low maneuverability. There are also omnidirectional robots that use different wheels, such as omni wheels, mecanum wheels, steering wheels, and omnidirectional rails [5]. Modular robotics is a topical approach in which several homogeneous or heterogeneous robot modules are assembled according to the requirements, with high flexibility and low costs.…”

Section: Introductionmentioning

confidence: 99%

Design of a modular locomotion system for autonomous mobile robots

Maroşan

Constantin

2021

MATEC Web Conf.

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Autonomous mobile robots are becoming more popular today and are successfully integrated into many civil and industrial projects. In the industrial sectors flexibility and modularity have an important role, so the production can be diversified and achieved with low costs. This paper presents the conceptual and functional design of a modular locomotion system for an autonomous mobile platform that can be configured according to the needs of the industrial environment it serves. The architecture of the locomotion system is based on a spring suspension system and three types of wheels: conventional wheels, omnidirectional wheels and mechanum wheels. The calculations for the chosen suspension system are presented, which ensure the contact with the ground for each type of wheel and the resignation calculations for the engine that will drive the wheel. Finally, some variants of configurations are presented that can be made on an autonomous mobile platform with these modules.

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Mechatronic design and development of a non-holonomic omnidirectional mobile robot for automation of primary production

Cited by 17 publications

References 11 publications

Adaptive Single Neuron Anti-Windup PID Controller Based on the Extended Kalman Filter Algorithm

Adaptive Single Neuron Anti-Windup PID Controller Based on the Extended Kalman Filter Algorithm

Kinematics analysis of a four-legged heavy-duty robot with a force–position hybrid control servo actuator in a parallel-executed cylinder system

Design of a modular locomotion system for autonomous mobile robots

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