A reduced actuation mecanum wheel platform for pipe inspection

Blyth, W. A.; Barr, David R. W.; Baena, Ferdinando Rodriguez y

doi:10.1109/aim.2016.7576803

Cited by 6 publications

(3 citation statements)

References 20 publications

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“…In Equation ( 5), D ω is a diagonal matrix and denotes the friction coefficient between the wheels and the grounds, if we assume that all wheels have the same coefficient of friction with the ground all the time (µ k ), then D ω is given by D ω = µ k I 4×4 . More details about the kinematic and dynamic of the omnidirectional robot with 4-mecanum wheels can be found in [15,16,[31][32][33]…”

Section: Kinematics and Dynamics Of The 4 Mecanum Omnidirectional Whe...mentioning

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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Section: Kinematics and Dynamics Of The 4 Mecanum Omnidirectional Whe...mentioning

confidence: 99%

Fuzzy-Based Fault-Tolerant Control for Omnidirectional Mobile Robot

et al. 2020

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“…Precise positioning of mobile robots is among the most significant and difficult aspects of localization studies, since the robot wheels drift on slippery ground [1]. Furthermore, the task of localizing mobile robots becomes less feasible for holonomic mobile robots due to the specialized mecanum type wheels [2]. The demand for mobile robots with mecanum wheels increases in many sectors because of their easy maneuvering ability.…”

Section: Introductionmentioning

confidence: 99%

A multiple sensor fusion based drift compensation algorithm for mecanum wheeled mobile robots

Al-Hababi¹,

Ezim²,

Canbek³

et al. 2021

Turk J Elec Eng & Comp Sci

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This paper investigates a multiple sensor fusion based drift compensation technique for a mecanum wheeled mobile robot platform. The mobile robot is equipped with high precision encoders integrated to the wheels and four accelerometers placed on its chassis. The proposed algorithm combines the information from the encoders and the acceleration sensors to estimate the total drift in the acceleration dimension. The inner loop controller is designed utilizing a disturbance observer based acceleration control structure which is blind against the slipping motion of the wheels. The estimated drift acceleration from the sensor fusion is then mapped back to the joint space of the robot and used as additional compensation over the existing controllers. The proposed algorithm is tested on a series of experiments. The results of the experiments are also compared with a recent study in order to provide a benchmark evaluation. The enhanced tracking performance yielding towards smaller error magnitudes in the experiments illustrate the efficacy and success of the proposed control architecture in attenuating the positioning drift of mecanum wheeled robots.

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“…This make the system good for testing fault tolerant control (FTC) methods. There exists some FTC techniques [12][13][14][15][16] and work which incorporates FTC for performance optimisation [17][18] . The existing techniques mainly deals with passive and active approach where in one case inherent fault is assumed in the system and the control law is used accordingly while the other tries to minimise the deviation from the desired performance using some pre-built control law or onboard computation.…”

Section: Introductionmentioning

confidence: 99%

Behavioural Fault tolerant control of an Omni directional Mobile Robot with Four mecanum Wheels

2019

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This paper analyses the four-mecanum wheeled drive mobile robot wheels configurations that will give near desired performance with one fault and two faults for both set-point control and trajectory-tracking (circular profile) using kinematic motion control scheme within the tolerance limit. For one fault the system remains in its full actuation capabilities and gives the desired performance with the same control scheme. In case of two-fault wheels all combinations of faulty wheels have been considered using the same control scheme. Some configurations give desired performance within the tolerance limit defined while some does not even use pseudo inverse since using the system becomes under-actuated and their wheel alignment and configurations greatly influenced the performance.

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A reduced actuation mecanum wheel platform for pipe inspection

Cited by 6 publications

References 20 publications

Fuzzy-Based Fault-Tolerant Control for Omnidirectional Mobile Robot

Fuzzy-Based Fault-Tolerant Control for Omnidirectional Mobile Robot

A multiple sensor fusion based drift compensation algorithm for mecanum wheeled mobile robots

Behavioural Fault tolerant control of an Omni directional Mobile Robot with Four mecanum Wheels

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