Analysis of control and correction options of mobile robot trajectory by an inertial navigation system

Pivarčiová, Elena; Božek, Pavol; Turygin, Yuri; Zajačko, Ivan; Shchenyatsky, Aleksey; Václav, Štefan; Císar, Miroslav; Gemela, Boris

doi:10.1177/1729881418755165

Cited by 47 publications

(43 citation statements)

References 6 publications

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“…MEMS gyroscope can be found also in industrial robots, where it helps with the high precision positioning and movement, in spacecraft (see [2], [14], [17]). Due to their small size MEMS gyroscopes can be used in the field of entertainment (smartphones, gaming devices), hobbies (RC flying models, camera and video systems -image stabilization).…”

Section: Mems Gyroscopementioning

confidence: 99%

“…Larmor precession in atomism) and astronomy (lunisolar precession of Earth), in technology (e.g. gyroscopic effect in transportation [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20]. ), in military (stabilization of missiles and bullets) and also in sport (flight disk), in energetics (kinetic energy accumulation by turbines, mechanical batteries).…”

Section: Introductionmentioning

confidence: 99%

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Applications of Gyroscopic Effect in Transportation

Náhlík

Smetanová

2018

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This article describes gyroscopes and their effects in various fields of everyday life. Gyroscopic effect is ability (tendency) of the rotating body to maintain a steady direction of its axis of rotation. The gyroscopes are rotating with respect to the axis of symmetry at high speed. Gyroscopic effect is related to all rotating mechanisms (wheels, gears, shafts, rotors, bicycles, motorcycles, children's toys...). In some cases, we want to enhance the gyroscopic effect (for stabilization, energy accumulation). Stabilization effect is mainly used for two-wheeled vehicles. It can be also used on ships and boats, where big wheel is rotating and preventing the boat to overturn. Gyroscopic effects can help with energy accumulation. The bigger rotating speed is achieved the bigger amount of energy is stored. When the gyroscope is well designed the efficiency can be much higher than in the batteries. In other cases we want to suppress or compensate it (in case of the direction change of the rotating device). This is mainly about the planes. When the pilot of the plane needs to change the heading then during the left turn the plane will go up and during the right turn it goes down. The use of gyroscopes is important in various modes of transportation. We describe different usage of gyroscopes in transport and logistics, especially gyrocompass (ships and planes-advantages: no influence by ferromagnetic materials, heading to the true North, disadvantages: errors caused by rapid changes in course, speed and latitude); attitude and heading indicators (plane); pendulous integrating gyroscopic accelerometer (rocketry); gyrostat-control moment gyroscope (space-stations, satellites and probes); MEMS gyroscope (automotive, entertainment, robots, etc.).

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Section: Mems Gyroscopementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Applications of Gyroscopic Effect in Transportation

Náhlík

Smetanová

2018

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“…Digital twin in this scope of view represents exact reproduction of certain physical object or real system across its lifecycle using a real-time data for purpose of understanding, learning and reasoning. [9,10] As a description can indicate, ThingWorx platform is based on creation of the "Things". Thing is the digital representation of real world subjects or processes with its own properties and business logic.…”

Section: Thingworxmentioning

confidence: 99%

“…Entering all of this data is done through a relatively simple tables filling with additional Java editing options. [8,10] For the purpose of data storing there might be used Value Stream. This tool represents one of the way, quick and easy, to record the values or data with timestamp in Foundation Server.…”

Section: Application Development Examplementioning

confidence: 99%

Capabilities of processing and visualization of production facilities diagnostic data

2018

Self Cite

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One of the main requirements of the safe and sustained workflow of production facilities and machines, is the proper choice and implementation of suitable technical diagnostic method. In the broader sense technical diagnostics includes approaches and methods of technical objects condition determination. This process is based on specific devices parameters inspecting, which values are directly or indirectly caused by certain changes of monitored production facilities condition. In order to reliably detect faults in right time, selected parameters indicating status of the production device should be monitored continuously. At a time when an Internet of Things platforms implemented to the industry business systems is the great temptation from the view of investors and company prestige are these principles common in the process of machine parameters online monitoring and its cross connections within the business realms. This paper describes specific software ThingWorx, which is a great example of sophisticated and universal IoT platform and also describes its application for production facilities diagnostic data collection and visualization.

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“…20 In 2018, the article dealt with the research of the supplementation of industrial robot effector trajectory's control systems by an inertial navigation system. 21 Ivan Kuric's article dealt with measurement of pose repeatability of industrial robot FANUC LR Mate 200iC (Japan). The measurement methodology was based on the so-called ISO cube placed in the most used part of robot workspace.…”

Section: Introductionmentioning

confidence: 99%

Kinematic modeling and error analysis of Delta robot considering parallelism error

Shang

Liu

2019

International Journal of Advanced Robotic Systems

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Motion accuracy is an important indicator to evaluate the performance of robots. The driven arm of the Delta robot is composed of a pair of parallelogram mechanisms. Because of the errors in components processing and installation, the parallelogram-driven mechanism will tilt. In addition, the load will have greater inertia impact on the end-effector in high-speed working condition. Therefore, the parallelogram-driven mechanism and loading effect will cause the parallelism error of the moving platform and affect motion accuracy of the robot. Aiming at the error analysis and motion accuracy of the Delta robot, currently, most studies mainly consider the influence of dimension error, clearance error, and driving error. There are few research conducted on the kinematics and error analysis considering parallelism error of the mechanism. The purpose of this article is to study the influence of parallelism error on motion accuracy of the robot. Firstly, the space vector method in mathematics is used to calculate the forward solution of the robot, and the kinematic equations of each kinematic chain are established. Secondly, the article analyzes the influence of the non-parallelism of the driven mechanism on motion error of the robot. Taking the D3PM-1000 robot as an example, it is obtained from the simulation results that with the increase in the tilt angle of the moving platform, the motion error caused by parallelism error also increases and the variation value is obvious, especially in the z direction, meaning that the parallelism error has a great influence on the motion error of the mechanism. The article effectively complements the research field of error analysis and provides a theoretical reference for the error compensation of the robot.

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Analysis of control and correction options of mobile robot trajectory by an inertial navigation system

Cited by 47 publications

References 6 publications

Applications of Gyroscopic Effect in Transportation

Applications of Gyroscopic Effect in Transportation

Capabilities of processing and visualization of production facilities diagnostic data

Kinematic modeling and error analysis of Delta robot considering parallelism error

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