Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target

My, Chu Anh; Makhanov, Stanislav S.; Van, Nguyen A.; Duc, Vu Minh

doi:10.1016/j.matcom.2019.11.002

Cited by 10 publications

(2 citation statements)

References 24 publications

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“…Meanwhile, due to the difference in the number of input and output variables, the mobile platform includes holonomic and non-holonomic constraint equations. The non-holonomic constraints of the mobile platform increase the complexity of system control [18][19][20]. Researchers combined screw theory and Lie algebra to simplify the kinematic modeling of the manipulator robot in order to solve the kinematic modeling of the manipulator robot.…”

Section: Introductionmentioning

confidence: 99%

Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure

Qiao

Luo

et al. 2021

Applied Sciences

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In this paper, an optimized kinematic modeling method to accurately describe the actual structure of a mobile manipulator robot with a manipulator similar to the universal robot (UR5) is developed, and an improved self-collision detection technology realized for improving the description accuracy of each component and reducing the time required for approximating the whole robot is introduced. As the primary foundation for trajectory tracking and automatic navigation, the kinematic modeling technology of the mobile manipulator has been the subject of much interest and research for many years. However, the kinematic model established by various methods is different from the actual physical model due to the fact that researchers have mainly focused on the relationship between driving joints and the end positions while ignoring the physical structure. To improve the accuracy of the kinematic model, we present a kinematic modeling method with the addition of key points and coordinate systems to some components that failed to model the physical structure based on the classical method. Moreover, self-collision detection is also a primary problem for successfully completing the specified task of the mobile manipulator. In traditional self-collision detection technology, the description of each approximation is determined by the spatial transformation of each corresponding component in the mobile manipulator robot. Unlike the traditional technology, each approximation in the paper is directly established by the physical structure used in the kinematic modeling method, which significantly reduces the complicated analysis and shortens the required time. The numerical simulations prove that the kinematic model with the addition of key point technology is similar to the actual structure of mobile manipulator robots, and the self-collision detection technology proposed in the article effectively improves the performance of self-collision detection. Additionally, the experimental results prove that the kinematic modeling method and self-collision detection technology outlined in this paper can optimize the inverse kinematics solution.

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Section: Introductionmentioning

confidence: 99%

Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure

Qiao

Luo

et al. 2021

Applied Sciences

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“…Although a few works such as [23] have tried to investigate the performance of task allocation algorithms in a frontier-based multirobot exploration problem, most studies have neglected the integration of multirobot exploration into dynamic MRTA problems such as ST-MR-TA : SP or MT-MR-TA : SP [24]. Consequently, to the best of the authors' knowledge, there is a lack of critical attention paid to addressing multirobot exploration and task allocation simultaneously in TA problems, while this problem is a pervasive problem in a wide variety of fields such as urban search and rescue (USAR) [25], agricultural field operations [26], and security patrols [27].…”

Section: Introductionmentioning

confidence: 99%

Exploration and Coordination of Complementary Multirobot Teams in a Hunter-and-Gatherer Scenario

et al. 2021

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The hunter-and-gatherer approach copes with the problem of dynamic multirobot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring (hunters) and another dexterous in completing (gatherers) the tasks. Although this approach has been studied from the task planning point of view in our previous works, the multirobot exploration and coordination aspects of the problem remain uninvestigated. This paper proposes a multirobot exploration algorithm for hunters based on innovative notions of “expected information gain” to minimize the collective cost of task accomplishments in a distributed manner. Besides, we present a coordination solution between hunters and gatherers by integrating the novel notion of profit margins into the concept of expected information gain. Statistical analysis of extensive simulation results confirms the efficacy of the proposed algorithms compared in different environments with varying levels of obstacle complexities. We also demonstrate that the lack of effective coordination between hunters and gatherers significantly distorts the total effectiveness of the planning, especially in environments containing dense obstacles and confined corridors. Finally, it is statistically proven that the overall workload is distributed equally for each type of agent which ensures that the proposed solution is not biased to a particular agent and all agents behave analogously under similar characteristics.

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Development of a New 6 DOFs Welding Robotic System for a Specialized Application

Toai¹,

Chu

2021

Intelligent Systems Reference Library

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Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target

Cited by 10 publications

References 24 publications

Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure

Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure

Exploration and Coordination of Complementary Multirobot Teams in a Hunter-and-Gatherer Scenario

Development of a New 6 DOFs Welding Robotic System for a Specialized Application

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