Position-Tracking Control of Dual-Rope Winch Robot With Rope Slip Compensation

Yoo, Sung-Won; Kim, Taegyun; Seo, Min-Young; Oh, Joohyun; Kim, Hwa Soo; Seo, TaeWon

doi:10.1109/tmech.2021.3075999

Cited by 22 publications

(7 citation statements)

References 13 publications

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“…Certain robots with special locomotion forms also use classical control laws. As in [ 41 ], a climbing robot with a dual rope and propeller uses a model-based feedforward controller to compensate for position errors due to rope deformation and slippage, and it uses a proportional-integral controller to compensate for the accumulated error due to rope dynamics. The bimodal aerial robot, consisting of a common quadrotor equipped with two passive wheels [ 44 ], uses two control methods, one of which is PID linearization control.…”

Section: Control Methods For Climbing Robotsmentioning

confidence: 99%

“…In a climbing robot with gripper wheels used to climb flexible clothes, a sliding mode controller with integral action along with an observer has been designed to achieve smooth robot motion [ 124 ]. For the dual–rope-driven climbing robot, rope deformation and slippage can be modelled based on the control method proposed in [ 41 ]. The position-tracking error can then be significantly reduced through feedforward compensation control based on the prediction model [ 125 ].…”

Section: Control Methods For Climbing Robotsmentioning

confidence: 99%

“…In the pioneering work of tethered simultaneous localization and mapping, the pose of the robot and the positions of the anchor points are estimated by measuring the length and bearing of the deployed tether [ 119 ]. The error introduced by the elasticity of the rope and slippage of the pulley should be addressed further [ 41 ]. In our previous study, a tether displacement sensor was introduced to acquire the global pose.…”

Section: Localization Technologies For Climbing Robotsmentioning

confidence: 99%

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Climbing robots for manufacturing

Tao

Gong

Ding

2023

National Science Review

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Robotized intelligent manufacturing is a growing trend in the manufacturing of large and complex components in aviation, aerospace, marine engineering and other industries. With their expansive workspaces and flexible deployment, climbing manufacturing robots can create a revolutionary manufacturing paradigm for large and complex components. This paper defines the climbing manufacturing robot based on the application status of climbing robots and then analyses four key technical requirements: adhesion, locomotion, localisation and control. Subsequently, the current research status of climbing robots in these four areas is classified and reviewed, along with a clarification of the research frontiers and trends in each area, and the applicability of the relevant research to manufacturing-oriented climbing robotic systems is analysed. Finally, by concluding the development trends of robotized intelligent manufacturing equipment in terms of manufacturing dimension and scale, environmental adaptability and cluster collaboration capability, we clarify the major challenges for climbing manufacturing robots in terms of adhesion principles, motion mechanisms, positioning technology and control methods, and propose future research directions in these fields.

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Section: Control Methods For Climbing Robotsmentioning

confidence: 99%

Section: Control Methods For Climbing Robotsmentioning

confidence: 99%

Section: Localization Technologies For Climbing Robotsmentioning

confidence: 99%

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Climbing robots for manufacturing

Tao

Gong

Ding

2023

National Science Review

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“…In the field of electro-optical unmanned system control, especially with servo execution equipment, its speed and direction control mainly rely on electromagnetic remote, visual guidance, Bluetooth WIFI, or satellite positioning to achieve stable communication, which is widely used in daily life. However, in complex environments such as search and rescue, its electromagnetic signals are susceptible to interference or malicious interception, and its position is exposed to attack [1][2][3] . Moreover, its data link is relatively complicated, and the signals are easily lost in environments such as obstacle avoidance in primitive forests, search and suppression in urban buildings, and earthquake relief, resulting in uncontrollable losses [4][5] .…”

Section: Introductionmentioning

confidence: 99%

Research on Dynamic Modeling Measurement and Control of Cable Traction Devices for Electro-Optical Unmanned Systems

Shen

Chen²,

Zhu³

et al. 2023

J. Phys.: Conf. Ser.

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In order to realize the high-precision variable direction cable control of the electro-optical unmanned system in non-electromagnetic remote control, a cable traction device measurement and control with characteristics of variable direction traction, rapid installation, and lightweight portability were proposed. Fan-shaped connect rod mechanism and U-shaped groove fixed pulley group were added to it, which can realize multi-direction traction without derailment on the basis of the cable limit and alleviate the cable fracture caused by mechanical wear. Introducing Euler transformation and analyzing the dynamics of the cable, the whole operation process, and the tension detection model was established. A Kalman Filter traction planning method was proposed to solve the problems of inertia delay and emergency stop of the unmanned vehicles after a sudden direction change. In order to verify the effectiveness, an experimental platform for the cable traction system of a 50kg wheeled and 150kg tracked unmanned system was built for simulation and experimental testing. The results show that the cable system has good dynamic variable traction, which can meet the multi-terrain control ability of an electro-optical unmanned system in a complex field environment.

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“…However, this robot cannot work on a wall with raised obstacles and sunken surfaces because of the lack of movement freedom perpendicular to the wall direction. For the obstacle-overcoming problem, Dai et al added an electric push rod that can retract perpendicular to the wall for pushing ropes away from the surface [19]. So, the robot can overcome obstacles, but the performance is restricted by the rod length.…”

Section: Introductionmentioning

confidence: 99%

A Full-Coverage Path-Planning Algorithm for a Glass-Curtain-Wall-Cleaning Robot Driven by Ropes

Zhang

Jia

et al. 2023

Applied Sciences

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Rope-driven robots are increasingly being applied for the efficiently cleaning of glass curtain walls. However, increasingly complex wall surfaces and the various shapes of obstacles may block the robot and reduce coverage. In this study, three-DOF rope-driven cleaning robots and a full-coverage path-planning algorithm were developed to achieve global operation. The robot adopts a five-rope parallel configuration, and four winches are mounted on the wall and one on the ground to produce 3D motion performance. We used a grid method to build the wall model to mark obstacles, and then we decomposed it according to the wall curvature to better access cleaning subareas. To further increase the cleaning coverage rate, a full-coverage path-planning algorithm based on an improved priority heuristic was designed, which does not ignore the inset area of U-shaped obstacles. By introducing two sets of priority criteria to judge the forward direction, the robot can switch directions to cover a whole area when encountering U-shaped obstacles. Furthermore, by planning a return route requiring the least amount of time when entering a dead zone, an escape strategy was developed to prevent the robot from being unable to choose a direction. The experimental results show that the robot, after applying the proposed path-planning algorithm, could complete the global cleaning of complex glass walls with various obstacles.

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Position-Tracking Control of Dual-Rope Winch Robot With Rope Slip Compensation

Cited by 22 publications

References 13 publications

Climbing robots for manufacturing

Climbing robots for manufacturing

Research on Dynamic Modeling Measurement and Control of Cable Traction Devices for Electro-Optical Unmanned Systems

A Full-Coverage Path-Planning Algorithm for a Glass-Curtain-Wall-Cleaning Robot Driven by Ropes

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