Adaptive Skid-Steering Control Approach for Robots on Uncertain Inclined Planes with Redundant Load-Bearing Mobility
Climbing manufacturing robots can create a revolutionary manufacturing paradigm for large and complex components, while the motion control of climbing manipulation-oriented robots (CMo-Rs) is still challenging considering anti-slippage problems. In this study, a CMo-R with full-scenery climbing capa...
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| Published in | Biomimetics (Basel, Switzerland) Vol. 9; no. 2; p. 64 |
|---|---|
| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Switzerland
MDPI AG
01.01.2024
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| Subjects | |
| Online Access | Get full text |
| ISSN | 2313-7673 2313-7673 |
| DOI | 10.3390/biomimetics9020064 |
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| Abstract | Climbing manufacturing robots can create a revolutionary manufacturing paradigm for large and complex components, while the motion control of climbing manipulation-oriented robots (CMo-Rs) is still challenging considering anti-slippage problems. In this study, a CMo-R with full-scenery climbing capability and redundant load-bearing mobility is designed based on magnetic adsorption. A four-wheel kinematic model considering the slipping phenomenon is established. An adaptive kinematic control algorithm based on slip estimation using Lyapunov theory is designed for uncertain inclined planes. For comparison, the traditional PID-based algorithm without slip consideration is implemented as well. Numeric simulations are conducted to tackle the trajectory tracking problems for both circular and linear trajectories on the horizontal plane (HP), 50° inclined plane (50° IP), 60° inclined plane (60° IP), and vertical plane (VP). The results prove that our approach achieves better tracking accuracy. It demonstrated applicability in various climbing scenarios with uncertain inclined planes. The results of experiments also validate the feasibility, applicability, and stability of the proposed approach. |
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| AbstractList | Climbing manufacturing robots can create a revolutionary manufacturing paradigm for large and complex components, while the motion control of climbing manipulation-oriented robots (CMo-Rs) is still challenging considering anti-slippage problems. In this study, a CMo-R with full-scenery climbing capability and redundant load-bearing mobility is designed based on magnetic adsorption. A four-wheel kinematic model considering the slipping phenomenon is established. An adaptive kinematic control algorithm based on slip estimation using Lyapunov theory is designed for uncertain inclined planes. For comparison, the traditional PID-based algorithm without slip consideration is implemented as well. Numeric simulations are conducted to tackle the trajectory tracking problems for both circular and linear trajectories on the horizontal plane (HP), 50° inclined plane (50° IP), 60° inclined plane (60° IP), and vertical plane (VP). The results prove that our approach achieves better tracking accuracy. It demonstrated applicability in various climbing scenarios with uncertain inclined planes. The results of experiments also validate the feasibility, applicability, and stability of the proposed approach. Climbing manufacturing robots can create a revolutionary manufacturing paradigm for large and complex components, while the motion control of climbing manipulation-oriented robots (CMo-Rs) is still challenging considering anti-slippage problems. In this study, a CMo-R with full-scenery climbing capability and redundant load-bearing mobility is designed based on magnetic adsorption. A four-wheel kinematic model considering the slipping phenomenon is established. An adaptive kinematic control algorithm based on slip estimation using Lyapunov theory is designed for uncertain inclined planes. For comparison, the traditional PID-based algorithm without slip consideration is implemented as well. Numeric simulations are conducted to tackle the trajectory tracking problems for both circular and linear trajectories on the horizontal plane (HP), 50° inclined plane (50° IP), 60° inclined plane (60° IP), and vertical plane (VP). The results prove that our approach achieves better tracking accuracy. It demonstrated applicability in various climbing scenarios with uncertain inclined planes. The results of experiments also validate the feasibility, applicability, and stability of the proposed approach.Climbing manufacturing robots can create a revolutionary manufacturing paradigm for large and complex components, while the motion control of climbing manipulation-oriented robots (CMo-Rs) is still challenging considering anti-slippage problems. In this study, a CMo-R with full-scenery climbing capability and redundant load-bearing mobility is designed based on magnetic adsorption. A four-wheel kinematic model considering the slipping phenomenon is established. An adaptive kinematic control algorithm based on slip estimation using Lyapunov theory is designed for uncertain inclined planes. For comparison, the traditional PID-based algorithm without slip consideration is implemented as well. Numeric simulations are conducted to tackle the trajectory tracking problems for both circular and linear trajectories on the horizontal plane (HP), 50° inclined plane (50° IP), 60° inclined plane (60° IP), and vertical plane (VP). The results prove that our approach achieves better tracking accuracy. It demonstrated applicability in various climbing scenarios with uncertain inclined planes. The results of experiments also validate the feasibility, applicability, and stability of the proposed approach. |
| Audience | Academic |
| Author | Saqib, Muhammad Zhang, Lin Zhao, Yanzheng Wang, Baoyu Guan, Enguang Liu, Xun |
| Author_xml | – sequence: 1 givenname: Lin orcidid: 0000-0002-5140-1096 surname: Zhang fullname: Zhang, Lin – sequence: 2 givenname: Baoyu surname: Wang fullname: Wang, Baoyu – sequence: 3 givenname: Enguang orcidid: 0000-0002-9135-5661 surname: Guan fullname: Guan, Enguang – sequence: 4 givenname: Xun orcidid: 0000-0002-7097-4690 surname: Liu fullname: Liu, Xun – sequence: 5 givenname: Muhammad surname: Saqib fullname: Saqib, Muhammad – sequence: 6 givenname: Yanzheng surname: Zhao fullname: Zhao, Yanzheng |
| BackLink | https://www.ncbi.nlm.nih.gov/pubmed/38392110$$D View this record in MEDLINE/PubMed |
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| Cites_doi | 10.1016/j.ymssp.2015.09.017 10.1109/CCA.1998.728488 10.1016/j.robot.2011.06.003 10.1109/ICRA.2019.8793910 10.1177/1729881420974852 10.1155/2020/3067024 10.1108/IR-11-2021-0257 10.1109/ACCESS.2022.3185062 10.1109/LRA.2021.3102328 10.1109/TMECH.2021.3075999 10.1016/j.robot.2013.02.004 10.1093/nsr/nwad042 10.1109/TIV.2022.3186280 10.1109/TII.2020.2983841 10.1109/TMECH.2023.3266778 10.1007/s12555-019-0814-x 10.1080/21642583.2022.2137708 10.1108/IR-04-2020-0082 10.1002/acs.2887 10.1109/IROS.2000.895264 10.1155/2019/5137139 10.3390/en13102552 10.1109/TRO.2009.2026506 10.18178/ijmerr.10.9.505-509 10.1016/j.oceaneng.2017.01.003 10.1007/s40815-020-00842-9 10.1016/j.robot.2013.09.002 10.1007/s40436-019-00275-0 10.1109/LRA.2022.3162910 10.1109/TIE.2017.2764870 |
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| StartPage | 64 |
| SubjectTerms | adaptive control Algorithms Climbing climbing manipulation Control algorithms Control systems Controllers Design Engineering research Inclined planes Kinematics Lie groups Load Manufacturing Mechanical properties mobile robotics Mobility Motion control Robotics Robots Robust control skid-steering Systems stability Wheels |
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| Title | Adaptive Skid-Steering Control Approach for Robots on Uncertain Inclined Planes with Redundant Load-Bearing Mobility |
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