Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle

Corral, Eduardo; Alonso, Judith; Gómez, María José; García-Prada, Juan Carlos

doi:10.1177/1729881417752726

Cited by 20 publications

(16 citation statements)

References 22 publications

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“…Robot dynamics is an important area besides analysis of kinematics, and relative studies are plenty [19][20][21], among which the Lagrange method is the most utilized approach. is study validates the robot on a controller developed on ARM and DSP, and control signals go through Panasonic A6 series motor drivers to drive motors.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

Wang

Liu

Sun

et al. 2021

Mathematical Problems in Engineering

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This paper presents a kinematic analysis for an open architecture 6R robot controller, which is designed to control robots made by domestic manufactures with structural variations. Usually, robot kinematic studies are often introduced for specific robot types, and therefore, difficult to apply the kinematic model from one to another robot. This study incorporates most of the robot structural variations in one model so that it is convenient to switch robot types by modifying model parameters. By combining an adequate set of parameters, the kinematic models, especially the inverse kinematics, are derived. The kinematic models are proved to be suitable for many classic industrial robot types, such as Puma560, ABB IRB120/1600, KAWASAKI RS003N/RS010N, FANUC M6iB/M10iA, and therefore be applicable to those with similar structures. The analysis and derivation of the forward and inverse kinematic models are presented, and the results are proven to be accurate.

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Section: Introductionmentioning

confidence: 99%

Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

Wang

Liu

Sun

et al. 2021

Mathematical Problems in Engineering

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“…In addition, some updated bipeds have been built following the passive philosophy [3,9]. The biped "PASIBOT" of Universidad Carlos III de Madrid is able to walk in a steady mode with only one actuator/drive [10,11].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot

et al. 2020

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This work presents and discusses a general approach for the dynamic modeling and analysis of a passive biped walking robot, with a particular focus on the feet-ground contact interaction. The main purpose of this investigation is to address the supporting foot slippage and viscoelastic dissipative contact forces of the biped robot-walking model and to develop its dynamics equations for simple and double support phases. For this investigation, special attention has been given to the detection of the contact/impact between the legs of the biped and the ground. The results have been obtained with multibody system dynamics applying forward dynamics. This study aims at examining and comparing several force models dealing with different approaches in the context of multibody system dynamics. The normal contact forces developed during the dynamic walking of the robot are evaluated using several models: Hertz, Kelvin-Voight, Hunt and Crossley, Lankarani and Nikravesh, and Flores. Thanks to this comparison, it was shown that the normal force that works best for this model is the dissipative Nonlinear Flores Contact Force Model (hysteresis damping parameter - energy dissipation). Likewise, the friction contact/impact problem is solved using the Bengisu equations. The numerical results reveal that the stable periodic solutions are robust. Integrators and resolution methods are also purchased, in order to obtain the most efficient ones for this model.

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“…Robotic motion control problems with constraints require novel control laws to improve the performance. [1][2][3] Given the track profile function, Abad et al 4 designed an optimal navigation algorithm for unmanned ground vehicle; Coelho and Nunes 5 implemented a Kalman-based active observer controller under nonholonomic constraints on wheeled mobile robots, to improve the robustness of the path following; and Matveev et al 6 proposed a sliding mode strategy which can be used for the navigation of a unicycle-like robot under moving obstacles.…”

Section: Introductionmentioning

confidence: 99%

A model-free fuzzy adaptive trajectory tracking control algorithm based on dynamic surface control

Tong

Lin

Huo

et al. 2020

International Journal of Advanced Robotic Systems

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According to the robot’s dynamics, a high performance algorithm based on dynamic surface control is introduced to track desired trajectory, and simulations are conducted on a selective compliance assembly robot arm-type manipulator to verify the algorithm. The traditional dynamic surface control is designed based on dynamic model, which requires exact model information. Due to the model uncertainty and complex environments, the tracking performance of the controller can be significantly decreased. Therefore, a model-free fuzzy adaptive dynamic surface controller is designed, by adopting a fuzzy system with Lyapunov self-adaptation law. The new controller efficiently improves the dynamic quality. The simulation results prove that the designed model-free controller ensures that all the states and signals of the closed-loop system are bounded, the system has a faster response speed and smaller steady-state error comparing with the traditional dynamic surface control using the selective compliance assembly robot arm model, and the tracking error converge to a very small scale. Besides, the proposed algorithm can track the desired trajectory with high performance without the prior knowledge of specific parameters from the experimental manipulator, which simplifies the complexity of building the control system.

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Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle

Cited by 20 publications

References 22 publications

Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot

A model-free fuzzy adaptive trajectory tracking control algorithm based on dynamic surface control

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