A Highly-Maneuverable Demining Autonomous Robot: an Over-Actuated Design

Jaradat, Mohammad A.; Bani-Salim, Muath; Awad, Fahed

doi:10.1007/s10846-017-0654-y

Cited by 8 publications

(7 citation statements)

References 19 publications

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“…In order to verify the proposed design, Jaradat tested the prototype in different scenarios and environments. Test results show that the robot has good performance in terms of autonomous navigation and target positioning [16,17]. e robot competition has become a research platform for multiagent robot systems with its unique dynamics and real time.…”

Section: Introductionmentioning

confidence: 99%

Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

Cai

Deng

Zhang

et al. 2021

Mobile Information Systems

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With the continuous development of science and technology, robotics is widely used in various fields. In recent years, more and more research studies have been done on the control of autonomous robotic manipulators. How to quickly, accurately, and smoothly grasp objects has always been a difficult point of research. As the robot’s executive mechanism, the robot arm plays an important role in whether the robot can complete a specific task. Therefore, the research on the robot arm is also the main topic in the development of robot technology. The control theory, kinematics, and human-computer interaction of robotic arms are the focus of the research in the field of robotic arms. Based on the above background, the research content of this paper is the research on the modeling method of autonomous robotic manipulator based on D-H algorithm. This paper uses D-H modeling method to model a four-degree-of-freedom robotic arm and gives the forward kinematics equation of the robotic arm. The inverse solution of the manipulator was given by the method and the geometric method, and the joint variable values were calculated. Finally, through experimental simulation, the experimental results show that the inverse solution of the end position of the machine by the geometric method is in the range of 2∼4 mm, and the inverse solution of the end position of the machine by the algebraic method is in the range of 6∼14 mm. It is more accurate to find the inverse solution of the geometrical method of the manipulator than the algebraic method.

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Section: Introductionmentioning

confidence: 99%

Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

Cai

Deng

Zhang

et al. 2021

Mobile Information Systems

View full text Add to dashboard Cite

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“…The unexploded mine detection device with a translation system mounted on the bottom of the tracked base. The robot was designed considering the criteria that such demining robots must fulfill [11], respectively, to remove some disadvantages identified in the previous robots, such as:…”

Section: Design Of the Mechanical Structures Of The Serial-tracked De...mentioning

confidence: 99%

“…The paper proposes and analyzes an original demining robot, subject of patent number RO132301 B1/2021, granted by the State Office for Inventions and Trademarks of Bucharest to "Nicolae Bălcescu" Land Forces Academy of Sibiu, Romania [9,10], destinated to humanitarian demining operations, including anti-personnel mine detection by using a detection device, demining, and clearing the land of exploded anti-personnel mines. The robot structure is designed considering the criteria that such demining robots must fulfill [11], respectively, to remove some drawbacks identified in the previous robots. The associated dynamic model is developed, numerically analyzed, and validated.…”

mentioning

confidence: 99%

Humanitarian Demining Serial-Tracked Robot: Design and Dynamic Modeling

et al. 2023

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The paper proposes an original mechanical structure of a serial-tracked robot, subject of national invention patent number RO132301, B1/2021, destinated for humanitarian demining operations: anti-personnel mine detection by using a detection device mounted on the bottom’s tracked platform, demining and clearing the land of exploded mines using a TRTTR robot structure. The dynamic model of the robot structure is determined and numerically validated. A novel approach based on the Lagrange formalism and mechanical design equations has been used in the calculus and selection of robot driving motors. The obtained results for robot translation modules are presented and analyzed.

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“…During research in recent decades, industry has investigated the applications of mobile robots in medicine, automotive, military, search and rescue, agricultural, services, underwater research, personal and other many applications in real life [1][2][3][4][5][6][7][8]. In any of these pivotal applications, the robot needs to interact with the environment.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy-Based Fault-Tolerant Control for Omnidirectional Mobile Robot

et al. 2020

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The motion-planning problem is well known in robotics; it aims to find a free-obstacle path from a starting point to a destination. To make use of actuation generosity and the fuzzy fast response behavior compared to other non-linear controllers, a fuzzy-based fault-tolerant control for an omnidirectional mobile robot with four Mecanum wheels is proposed. The objective is to provide the robot with an online scheme to control the robot motion while moving toward the final destination with avoiding obstacles in its environment and providing an adaptive solution for a combination of one or combination of the wheel’s faults. The faults happen when the wheel does not receive the control command signal from the controller; in this case, the robot can rotate freely due to the interaction with the ground. The principle of fuzzy-based control proposed by Sugeno is used to develop the motion controller. The motion controller consists of two main controllers: the Run-To-Goal, and the obstacle-avoidance controller. The outputs of these two controllers are superposed to get the net potential force on the robot. By its simplicity, the fuzzy controller can be suitable for online applications (online path planning in our case). To the best of our knowledge, this is the first fuzzy-based fault-tolerant controller for an omnidirectional robot. The proposed controller is tested by a set of simulation scenarios to check the proposed fuzzy tolerant control. Kuka OmniRob is used as an example of the omnidirectional robot in these simulation runs. Matlab is used to build the fuzzy-based fault-tolerant control, and the 3D simulation is developed on the CoppeliaSim software. We examine five distinct scenarios, each one with a different fault state. In all scenarios, the proposed algorithm could control the robot to reach its final destination with the absence and presence of an obstacle in the workspace, despite actuator faults, without crossing the workspace boundaries.

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A Highly-Maneuverable Demining Autonomous Robot: an Over-Actuated Design

Cited by 8 publications

References 19 publications

Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

Humanitarian Demining Serial-Tracked Robot: Design and Dynamic Modeling

Fuzzy-Based Fault-Tolerant Control for Omnidirectional Mobile Robot

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