Model-Free Unified Tracking and Regulation Visual Servoing of Wheeled Mobile Robots

Li, Baoquan; Fang, Yongchun; Hu, Guoqiang

doi:10.1109/tcst.2015.2495234

Cited by 50 publications

(18 citation statements)

References 32 publications

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“…Thus, paper [1] described the design features of MRCs and their basic components; however, the authors ignored the accuracy of activities executed when using robotic complexes. Study [2] noted that the design features of the chassis greatly affect the functionality of MRCs; however, it is more expedient to supplement the theoretical research into this issue with experiments. Work [3] reports results from studying MRCs equipped with lever-type manipulators with consistently connected links.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Substantiating the requirements to functional indicators for the manipulators of mobile robotic demining complexes

Strutynsky¹,

Kotsyuruba²,

Dovhopoliy³

et al. 2019

EEJET

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Section: Literature Review and Problem Statementmentioning

confidence: 99%

Substantiating the requirements to functional indicators for the manipulators of mobile robotic demining complexes

Strutynsky¹,

Kotsyuruba²,

Dovhopoliy³

et al. 2019

EEJET

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“…x z ′′ ′′ The range of standard conditions within static steadiness of the complex mass center positions is restricted by the contour Q′′K′′N′′F ′′. The contour at the section K′′N′′ corresponds to the circle arc, and it will be described by the dependences (11,12) at the sec tions F ′′N′′ and Q′′K′′ where q < 0.…”

Section: Fig 4 Kinematic Diagram Of the Lever-type Manipulator In-mentioning

confidence: 99%

Determination of static equilibrium conditions of a mobile terrestrial robotic complex

Strutynsky¹,

Hurzhii²,

Kozlov³

2019

NVNGU

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Purpose. Determination of the location of a robotic complex and an object being manipulated. Methodology. The applied theoretical methods are based on the solution of the problems of mechanical system statics, Monte Carlo methods and analytical geometry with approbation of the obtained results on a robotic complex prototype.findings. The conditions of the static equilibrium of a mobile terrestrial robotic complex with a levertype manipulator are established. They are based on the analytical correlation as the sum of moments of gravitational forces acting on the joints of the complex relative to the axes passing through the extreme supporing points of the chassis.The location of the mass center of the robotic complex with the levertype manipulator is determined. The area is created by the arc of a circle whose radius depends on the mass of the object captured by the manipulator. The influence of static chassis de formations on the permissible complex area location of the general mass center is defined. It is found how the complex location influenses the inclined surface of the tolerable area of the mass center location in terms of the persistency. The efficient conditions of the large mass manipulated object location are set.originality. Necessary and sufficient conditions for the terrestrial robotic complex to remain in a static equilibrium when work ing with objects of significant mass are determined. The area of the general mass center of the complex with all possible positions of the manipulator and different mass of the object being manipulated on the basis of the Monte Carlo methods adapted to the solution of the static problem of the terrestrial robotic complex with a lever type manipulator is established. In this case, the bear ing system deformability of the chassis and the features of the position of the complex being located on an inclined plane are considered.Practical value. The established conditions of the robotic complex static stability are the basis of the choice of its geometric parameters for providing maximum working capacity in different operating conditions.

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“…On the basis of the literature review, it is found that the problem in general is to create an element base, which will ensure the design of highly reliable manipulators with necessary work life in tough operating conditions. The source [7] states that key elements of the manipulators are hinges that provide mobility of spatial structures and drive system manipulators. The improvement of the characteristics of these elements is a promising way, which will increase the technical level of mobile robot manipulators.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Design of parallel link mobile robot manipulator mechanisms based on function-oriented element base

Strutynskyi

Ночніченко

2019

EEJET

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Model-Free Unified Tracking and Regulation Visual Servoing of Wheeled Mobile Robots

Cited by 50 publications

References 32 publications

Substantiating the requirements to functional indicators for the manipulators of mobile robotic demining complexes

Substantiating the requirements to functional indicators for the manipulators of mobile robotic demining complexes

Determination of static equilibrium conditions of a mobile terrestrial robotic complex

Design of parallel link mobile robot manipulator mechanisms based on function-oriented element base

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