Modeling and Controlling the Motion of a Manipulator with a Closed Kinematic Chain and a Linear Actuator

A method of robust control of a specialized manipulator designed to work as part of a robotic complex for servicing vertical surfaces is proposed and studied. The complex consists of a wheeled platform, a wheeled vertical motion robot with a vacuum contact device and a manipulator. In the transport...

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Bibliographic Details
Published in:Journal of computer & systems sciences international 2021-05, Vol.60 (3), p.502-509
Main Author: Alhaddad, M.
Format: Article
Language:English
Subjects:
Actuators
Control
Engineering
Manipulators
Mechatronics
Robot arms
Robot dynamics
Robotics
Robots
Robust control
Vacuum pumps
Vertical motion
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Summary:A method of robust control of a specialized manipulator designed to work as part of a robotic complex for servicing vertical surfaces is proposed and studied. The complex consists of a wheeled platform, a wheeled vertical motion robot with a vacuum contact device and a manipulator. In the transport position, the robot is attached to the operating element (gripper) of the manipulator and is located on the platform so that its contact plane is almost parallel to the plane of the platform. After the platform approaches the wall, the manipulator brings the robot into the working position, bringing its contact plane to the surface of the wall. Then the vacuum pump of the robot is switched on, the robot is sucked against the wall, disconnects from the grasp of the manipulator, and then moves along the wall in autonomous mode. This article describes the operation of the manipulator at the stage of bringing the robot into the working position.
ISSN:1064-2307
1555-6530
DOI:10.1134/S1064230721020027