Optimal path planning of a cable-suspended robot with moving boundary using optimal feedback linearization approach

Tourajizadeh, Hami; Zehfroosh, Ashkan; Korayem, Moharam Habibnejad

doi:10.1007/s11071-014-1532-9

Cited by 20 publications

(7 citation statements)

References 18 publications

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“…Controlling the behavior of mechanical systems is an integral concept that inevitably arises in entire engineering research fields from dynamics and robotics [9][10][11] to fluid mechanics [12][13][14] and turbulent boundary layers [4][5][6][7]. Boundary layer can be controlled through a passive method, which not needs a controller, and/or an active method, which requires a controller and controlling sensors [8].…”

Section: Boundary Layer Control Methodsmentioning

confidence: 99%

On the Active and Passive Flow Separation Control Techniques over Airfoils

Moghaddam

Neishabouri

2017

IOP Conf. Ser.: Mater. Sci. Eng.

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Abstract. In the present work, recent advances in the field of the active and passive flow separation control, particularly blowing and suction flow control techniques, applied on the common airfoils are briefly reviewed. This broad research area has remained the point of interest for many years as it is applicable to various applications. The suction and blowing flow control methods, among other methods, are more technically feasible and market ready techniques. It is well established that the uniform and/or oscillatory blowing and suction flow control mechanisms significantly improve the lift-to-drag ratio, and further, postpone the boundary layer separation as well as the stall. The oscillatory blowing and suction flow control, however, is more efficient compared to the uniform one. A wide range of parameters is involved in controlling the behavior of a blowing and/or suction flow control, including the location, length, and angle of the jet slots. The oscillation range of the jet slot is another substantial parameter.

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Section: Boundary Layer Control Methodsmentioning

confidence: 99%

On the Active and Passive Flow Separation Control Techniques over Airfoils

Moghaddam

Neishabouri

2017

IOP Conf. Ser.: Mater. Sci. Eng.

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“…Это сложная проблема при решении планирования траектории ТПР [53][54][55]. Таким образом, по сравнению с обычными роботами, планирование траектории для ТПР существенно различается [56][57][58][59][60][61]. Для ТПР с полными связями тот факт, что все степени свободы РО могут контролироваться, облегчает задачу планирования траектории.…”

Section: қазұтзу хабаршысы №3 2021 205unclassified

Overview of cable parallel robots

Jomartov¹,

Kamal²,

Abduraimov³

2021

Vest KazNRTU

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Аннотация. В отличие от параллельных роботов с жесткой связью, тросовые параллельные роботы (ТПР) приводятся в движение гибкими тросами, а не жесткими звеньями для контроля положения и ориентации рабочего органа. ТПР обладают преимуществами параллельных роботов по сравнению с обычными роботами, включая более высокое соотношение нагрузки и веса. ТПР имеют меньшие инерционные характеристики и более высокое отношение полезной нагрузки к весу, что обеспечивает высокую скорость и ускорение рабочего органа. Благодаря гибкости тросов, ТПР могут применяться для решения сложных задач с большой рабочей зоной обслуживания. В данной статье представлен обзор некоторых видов тросовых параллельных роботов разработанных в мире. Показан обзор работ по проектированию ТПР, структуры, кинематики и динамики, управления и планирования траектории. Проведенный обзор тросовых параллельных роботов будет полезен для студентов и докторантов, работающих в области исследований принципиально новых роботов.

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“…And an optimal feedback linearization approach is used to find the optimal path between the initial and the target points in the case of a cable robot under the maximum dynamic load. These are very good research results in controlling cable robots in [28,30,31]. Different from the above error elimination algorithms, high-precision position sensors cannot be used at present (due to the strict size constraints and limitations of high and low temperature space environments), the joint rotation can only be open-loop controlled by a stepper motor.…”

Section: -Dof Observation Robot Joint: Slow Rotation Phenomenonmentioning

confidence: 99%

Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment

et al. 2018

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A nonlinear model of a special cable in space robotic arms is developed in space environment. The mechanic effects of control cables in powerful robots can often be neglected. However, in complex space multi-physics environments, involving ultra-low temperature, radiation, and other extreme conditions of outer space, the externally mounted cables (protected by shielding layers) can induce strong nonlinear interference to robot arms; and this can induce further small-range slow rotations or oscillations of the flexible joint of robots at a specific posture, which consequently affect the precision and operation performance of end effectors. Effective mathematical models on nonlinear mechanics of strong cables under multi-physics environments and their effects on weak robots have not been well developed yet. Complex key factors, such as low gravity, nonlinear friction, and unexpected curved surface constraints, have not been extensively investigated either. In this study, considering all these key factors, a Kirchhoff nonlinear mechanical model of cables in

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Optimal path planning of a cable-suspended robot with moving boundary using optimal feedback linearization approach

Cited by 20 publications

References 18 publications

On the Active and Passive Flow Separation Control Techniques over Airfoils

On the Active and Passive Flow Separation Control Techniques over Airfoils

Overview of cable parallel robots

Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment

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