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 inBiomimetics (Basel, Switzerland) Vol. 9; no. 2; p. 64
Main Authors Zhang, Lin, Wang, Baoyu, Guan, Enguang, Liu, Xun, Saqib, Muhammad, Zhao, Yanzheng
Format Journal Article
LanguageEnglish
Published Switzerland MDPI AG 01.01.2024
Subjects
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
China
adaptive control
skid-steering
mobile robotics
climbing manipulation
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ISSN2313-7673
2313-7673
DOI10.3390/biomimetics9020064

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Summary: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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ISSN:2313-7673
2313-7673
DOI:10.3390/biomimetics9020064