Modeling and practical implementation of motion controller for stable movement in a robotic solar panel dust-removal system

Nguyễn, Thanh Phương; Nguyen, Hung T.; Phan, Van Hieu; Ngo, Ha Quang Thinh

doi:10.1080/15567036.2021.1934194

Cited by 7 publications

(6 citation statements)

References 37 publications

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“…However, this method only takes the lowest energy consumption as the objective function and has limitations. Nguyen et al [14] developed a robot for cleaning solar panels and simplified it. By establishing the control motion equation of the robot during driving and combining with the linear quadratic regulator, a scheme is proposed to ensure the stable movement of the system and track the desired trajectory.…”

Section: Related Workmentioning

confidence: 99%

“…Since the main external factor affecting the high-altitude operation of robot is the wind, the robot developed in this study and the robot developed in [11,13,14] are, respectively, compared and analyzed in terms of operation duration, climbing angle, and traveling speed of the robot under different winds.…”

Section: Performance Comparison Analysismentioning

confidence: 99%

“…e robot developed in [13] has good endurance without considering the external environment, but does not consider the performance of other aspects of the robot. e robot developed in [14] Initialize…”

Section: Performance Comparison Analysismentioning

confidence: 99%

“…[13] Ref. [14] Figure 9: e relationship between the maximum runtime of different robots and the wind level. overemphasizes the importance of path control while neglects the optimization of the climbing ability of robot speed.…”

Section: Wind Levelmentioning

confidence: 99%

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Design Method of Intelligent Ropeway Type Line Changing Robot Based on Lifting Force Control and Synovial Film Controller

Duan

Shi

Liu

et al. 2022

Journal of Robotics

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Aiming at the problems of low efficiency, reliability, and safety of manual construction for demolition of old lines, a design method of an intelligent ropeway type line changing robot based on lifting force control and synovial film controller is proposed. First, the mechanical model of robot load and line sag is established, and the sag of the overhead line where the robot is located is used to calculate the jacking force that the jacking device needs to provide to the robot. Then, by introducing the radial basis function (RBF) neural network adaptive algorithm into the synovial controller, an adaptive sliding mode position control algorithm based on the RBF neural network is designed to achieve high-precision motion control of the robot in complex operating environments. Finally, based on the compactness, weight, and reliability of the robot, the optimal design is carried out from four aspects of topology, size, shape and morphology, and the design scheme of the robot for wire removal is proposed, and the robot is produced. The developed robot and the other three robots are compared and analyzed under the same conditions through simulation experiments. The results show that the maximum operating time, maximum climbing angle, and maximum traveling speed of the robot developed in this study are all optimal, which are 45 min, 10°, and 1 m/s respectively, and the performance is better than the other three comparison algorithms.

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Section: Related Workmentioning

confidence: 99%

Section: Performance Comparison Analysismentioning

confidence: 99%

Section: Performance Comparison Analysismentioning

confidence: 99%

Section: Wind Levelmentioning

confidence: 99%

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Design Method of Intelligent Ropeway Type Line Changing Robot Based on Lifting Force Control and Synovial Film Controller

Duan

Shi

Liu

et al. 2022

Journal of Robotics

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“…Vietnamese scientists have conducted many studies on the development of robots to serve with various activities in daily life [53][54][55][56]. However, there has been limited research on the creation of weed killing robots specifically for agricultural purposes..…”

Section: Introductionmentioning

confidence: 99%

Development of a prototype of weeding robot

Nguyen,

Tung

2024

Eng. Res. Express

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Weeds, or wild grasses, are naturally occurring grasses that grow in the wild without human cultivation. Weeds have detrimental effects on soil and crops, including competing with crops for space, nutrients, light, and moisture in the soil, which ultimately reduces crop productivity. Typically, herbicides are used to eliminate weeds, but all of these chemicals carry a potential threat to human well-being. This article presents a detailed plan for building a DELTA robot that is specifically engineered to eliminate weeds in agricultural environments. This article presents a systematic approach encompassing research, kinematics calculation, robot control, and the fabrication of a weed-killing robot prototype. The article proposes a prototype of a weed-killing robot with simple operation suitable for Vietnam's economic conditions. The experiments show that the robot can effectively remove different types of weeds from lettuce fields. The results show that the proposed prototype is completely capable of replacing humans, helping to improve productivity as well as protect health and help farmers avoid unwanted effects from herbicide chemicals.

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Implementation of the Mathematical Model for Service Robot to Avoid Obstacles and Human

Ngo

Tran

Dong

et al. 2021

Lecture Notes in Networks and Systems

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Modeling and practical implementation of motion controller for stable movement in a robotic solar panel dust-removal system

Cited by 7 publications

References 37 publications

Design Method of Intelligent Ropeway Type Line Changing Robot Based on Lifting Force Control and Synovial Film Controller

Design Method of Intelligent Ropeway Type Line Changing Robot Based on Lifting Force Control and Synovial Film Controller

Development of a prototype of weeding robot

Implementation of the Mathematical Model for Service Robot to Avoid Obstacles and Human

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