Design and analysis of a passive adaptive wall-climbing robot on variable curvature ship facades

Yang, Pei; Sun, Lingyu; Zhang, Minglu

doi:10.1016/j.apor.2024.103879

Cited by 9 publications

(2 citation statements)

References 23 publications

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“…As shown in Figure 11, the robot essentially meets the functional requirements. The experimental results show that the robot using the new SMC method takes 68.84 s to complete the tracking of the preset path (1), 29.12 s to complete the turning movement, and 102.85 s to complete the tracking of the preset path (2). The time of the robot using the traditional SMC method is 73.56 s, 31.42 s, and 118.39 s, respectively.…”

Section: Mobile Platform Trajectory Tracking Experimentsmentioning

confidence: 99%

“…As one of the most widely used industrial robots, the climbing wall welding manipulator is an indispensable component in the automated welding operations of largescale engineering structures, large storage tanks, ships, offshore platforms, large-diameter pipelines, and other equipment [1,2]. The harsh working environment, low efficiency, and unstable welding quality highlight the crucial significance and substantial economic value of designing efficient welding manipulators [3,4].…”

Section: Introductionmentioning

confidence: 99%

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Trajectory Tracking Control of Mobile Manipulator Based on Improved Sliding Mode Control Algorithm

Cui,

Song,

Zheng

et al. 2024

Processes

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Research on trajectory tracking control for climbing welding robots holds significant importance in the field of automated welding. However, existing trajectory tracking methods suffer from issues such as jitter and slow speed. In this paper, an improved sliding mode control strategy is proposed based on the self-designed wall-climbing welding mobile manipulator. Firstly, a new adaptive sliding mode control strategy is proposed for the mobile platform based on the kinematic model. By introducing a new approach law, the controller is designed when the distance between the center of mass is unknown. Secondly, regarding the manipulator, we analyze simplified dynamic equations, extract uncertain components, and utilize a CNN for compensation. This compensation strategy is integrated into the sliding mode control law, achieving precise control over the manipulator and effectively resolving issues like slow tracking speeds, large errors, and chattering. The stability of the robot control system is proved by the Lyapunov function. Through simulation analysis and experimental validation, the proposed control method is confirmed to be feasible and superior.

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Section: Mobile Platform Trajectory Tracking Experimentsmentioning

confidence: 99%