Obstacle surpassing and posture control of a stair-climbing robotic mechanism

Morales, Rafael; Chocoteco, J.; Feliú, V.; Sira‐Ramírez, Hebertt

doi:10.1016/j.conengprac.2013.01.006

Cited by 25 publications

(16 citation statements)

References 18 publications

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“…The experiments illustrate the high performance of the proposed filtering algorithm with respect to different filtering alternatives. The following advantages are reported: (i) There is no substantial delay in the filtered signal; (ii) high robustness properties with respect to corrupting noises, with no need of knowing their statistical properties; (iii) high attenuation of the noise effects; (iv) the algorithm is computed on-line and in real time; (v) Versatility and ease of implementation and; (vi) it can be robustly applied to a wide range of real engineering applications, such as the buoyancy of a submerged platform [34], the control of robotic systems [35][36][37][38][39] or the control of electronic converters [40]. Moreover, the design of novel architectures, using reconfigurable logic, to accelerate the algebraic filtering and achieve real-time performance in combination with the search of a criterion to automatically define the period of the resetting of the algorithm is the subject of on going applications.…”

Section: Discussionmentioning

confidence: 99%

Online signal filtering based on the algebraic method and its experimental validation

Morales

Segura

Somolinos

et al. 2016

Mechanical Systems and Signal Processing

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Section: Discussionmentioning

confidence: 99%

Online signal filtering based on the algebraic method and its experimental validation

Morales

Segura

Somolinos

et al. 2016

Mechanical Systems and Signal Processing

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“…Finally, this methodology is well suited to confronting important problems of control systems. Its versatility and ease of implementation make the controller suitable to be robustly applied in a wide range of real engineering applications such as the buoyancy control of a submerged platform [34], the control of stair-climbing mobility systems [35][36][37][38][39][40][41] or the control of electronic converters [42]. This will be the topic of our future publications.…”

Section: Discussionmentioning

confidence: 99%

Control of a DC motor using algebraic derivative estimation with real time experiments

2014

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This paper presents an experimental control scheme for DC motors which combines an overlapping implementation of the algebraic derivative estimation method and a disturbance estimator based on the aforementioned algebraic derivative method. The methodol-ogy only requires the measurement of the angular position of the motor and the voltage input to the motor. The main advantages of the proposed approach are: it is independent of the motor's initial conditions, the methodology is robust to Coulomb friction effects, it does not require any statistical knowledge of the noises that corrupt the data, the deriva-tive estimation process does not require initial conditions or dependence between the sys-tem input and output, and the algorithm is computed online and in real time. The effectiveness of the proposed controller has been verified by means of computer simula-tions and it has also been experimentally implemented on a laboratory prototype with excellent results in both, stabilization and trajectory tracking tasks.

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“…In this work, a new kinematic model and a new control strategy for the platform of the system are proposed in order to control the posture and the orientation of the system. Other works which use a similar strategy can be found in [20] where a control based on a kinematic model of the system is developed in order to surpass obstacles such as curbs, ramps or staircases while maintaining the seat's inclination of a wheelchair. This work was the starting point for the development of the kinematic model and the control strategy of our robot, having in common both systems that they move at slow speed, which allows the design of a control strategy based on the kinematics of the system.…”

Section: Introductionmentioning

confidence: 99%

A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators

2018

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This work is concerned with the mechanical design and the description of the different components of a new mobile base for a lightweight mobile manipulator. These kinds of mobile manipulators are normally composed of multiple lightweight links mounted on a mobile platform. This work is focused on the description of the mobile platform, the development of a new kinematic model and the design of a control strategy for the system. The proposed kinematic model and control strategy are validated by means of experimentation using the real prototype. The workspace of the system is also defined.Electronics 2018, 7, 441 2 of 27 were, initially, outside their workspace. Some works about the analysis and design of lightweight manipulators mounted on mobile platforms can be found in [5,6], and about trajectory planning of these systems in [7].Many existing applications take advantage of using arms with lightweight links mounted on mobile platforms. Some of these are: intervention robots, robots used to clean up hazardous waste, for bomb disposal and refighting, the maintenance of dangerous items (e.g., hot electric power lines), or mining robots. For example, Ref.[8] presents a robot to assist humanitarian demining and [9] a design of an automatic system for aircraft painting.In the context of a multiple large link manipulators mounted on a mobile platform, the movement of the links will reduce the physical stability of the system, increasing the possibilities of overturning of the mobile platform. When the mass of the flexible manipulator is important in comparison with the overall mass of the mobile platform, the center of mass is shifted from the base of the robot. This reduces the maximum speed and the maximum terrain inclination in which the robot can navigate and the maneuvers that the manipulator can perform without leading the center of mass out of the support polygon, finally causing the overturning of the robot. For that reason, four legs have been added to the mobile platform in order to increase the polygon support of the system and increase considerably the physical stability of the system.In this work, a mechanical device capable of transporting large lightweight manipulators is presented. Its main objectives are: (a) transport the manipulator, (b) increase the stability of the system when it reaches a specific target and (c) help in the positioning of the tip of the manipulator. The innovations introduced in our mechanism over previous designs are related to the inclusion of the four controlled legs in the mobile platform: (1) These four legs enlarge the stability polygon, preventing the overturn of the platform in the case that the large lightweight arm placed on it leans excessively. This approach to increase the robot stability has not been done before in this context. (2) Controlling these legs and, by means of them, the inclination of the platform, allows us to accurately position the tip of the manipulator. These positioning movements are of a reduced range, but, since large movements and approximate pos...

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Obstacle surpassing and posture control of a stair-climbing robotic mechanism

Cited by 25 publications

References 18 publications

Online signal filtering based on the algebraic method and its experimental validation

Online signal filtering based on the algebraic method and its experimental validation

Control of a DC motor using algebraic derivative estimation with real time experiments

A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators

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