Volume 13, Issue 5 (2013)                   Modares Mechanical Engineering 2013, 13(5): 130-143 | Back to browse issues page

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Adaptive Hybrid Suppression Control of a Wheeled ‎Mobile Robot with Flexible Solar Panels. Modares Mechanical Engineering. 2013; 13 (5) :130-143
URL: http://journals.modares.ac.ir/article-15-7239-en.html
Abstract:   (2837 Views)
Flexible members such as solar panels of robotic systems during a maneuver may get stimulated and vibrate. ‎Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated ‎object, which in turn produces error in the position and speed of the manipulating end-effectors, which should be ‎prevented. In this paper, a new control algorithm for an object manipulation task by a wheeled mobile robotic ‎system with flexible members is proposed. To this end, a new dynamics modelling approach for control ‎implementations on compounded rigid-flexible multi-body systems is introduced. Then, based on a designed ‎path/trajectory for a wheeled mobile robotic system, an Adaptive Hybrid Suppression Control (AHSC) is proposed ‎to perform an object manipulation task by such complicated rigid-flexible multi-body systems. Finally, a wheeled ‎mobile robotic system is simulated which contains two manipulators, and a rotating antenna and a camera as its ‎third and fourth arms, appended with two solar panels as has been proposed for space explorations. Obtained ‎results reveal the merits of the proposed AHSC algorithm which will be discussed.‎
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Article Type: Research Article | Subject: robatic
Received: 2012/06/9 | Accepted: 2012/12/30 | Published: 2013/07/23

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