Behavioural Fault tolerant control of an Omni directional Mobile Robot with Four mecanum Wheels

This paper analyses the four-mecanum wheeled drive mobile robot wheels configurations that will give near desired performance with one fault and two faults for both set-point control and trajectory-tracking (circular profile) using kinematic motion control scheme within the tolerance limit. For one fault the system remains in its full actuation capabilities and gives the desired performance with the same control scheme. In case of two-fault wheels all combinations of faulty wheels have been considered using the same control scheme. Some configurations give desired performance within the tolerance limit defined while some does not even use pseudo inverse since using the system becomes under-actuated and their wheel alignment and configurations greatly influenced the performance

3D MODELLING AND DESIGNING OF DEXTO:EKA:

The presented paper is concerned with designing of a low-cost, easy to use, intuitive interface for the control of a slave anthropomorphic teleo- operated robot. Tele-operator “masters”, that operate in real-time with the robot, have ranged from simple motion capture devices, to more complex force reflective exoskeletal masters. Our general design approach has been to begin with the definition of desired objective behaviours, rather than the use of available components with their predefined technical specifications. With the technical specifications of the components necessary to achieve the desired behaviours defined, the components are either acquired, or in most cases, developed and built. The control system, which includes the operation of feedback approaches, acting in collaboration with physical machinery, is then defined and implemented

Mechanical design of a four wheel omni directional mobile robot

Mestrado em ESTG-IPBOmni directional mobile robots have been popularly employed in several applications, especially in soccer player robots considered in Robocup competitions. Actually, the popular optimized robots are using three wheels in the mechanical structure. This situation brings the idea of omnidirectional robot at manufacturing. To design the omnidirectional wheels mobile robot respecting the requirement specifications of the factory lite competition, it’s recommended to design and optimize the proposed solution using Solidworks tool. To design a mobile robot using four omni wheels, it’s important to implement suspension system for each wheel. The suspension system will help the programmer when implementing the PID parameters and test the robot. Such a robot can respond more quickly and it would be capable of more sophisticated behaviors such as to transport materials and placed on processing machine and outgoing warehouses. This thesis has tried to focus the description of four wheel omnidirectional mobile robot to be applied to the Factory Lite competition

Dynamics of a 9-DOF Heterogeneous Robotic Platform for Spacecraft Motion Emulation

Increasing access to space has driven demand for low cost, portable, and highly specialized robotic platforms to accurately simulate multi-dimensional space missions. Presented is an effective heterogeneous robotic system that emulates orbital motion from given control algorithms. This robotic platform is composed of a three degrees of freedom (3-DOF) holonomic omni wheel ground vehicle carrying a 6-DOF robotic manipulator, which results in a 9-DOF coupled moving manipulator system. The dynamical models are derived and feedback linearization is studied to control the system. The integrated controls and hardware result in an a sophisticated in-lab system that will be scalable from orbital motion to execution of complex tasks, including spaceflight rendezvous and proximity operations, servicing missions, and surface exploration and sampling

Overcoming barriers and increasing independence: service robots for elderly and disabled people

This paper discusses the potential for service robots to overcome barriers and increase independence of elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly people and advances in technology which will make new uses possible and provides suggestions for some of these new applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses the complementarity of assistive service robots and personal assistance and considers the types of applications and users for which service robots are and are not suitable

DESIGN AND DEVELOPMENT OF AN OMNIDIRECTIONAL MOBILE BASE FOR A SOCIAL ROBOT

Master'sMASTER OF ENGINEERIN

Using an UAV to guide the teleoperation of a mobile manipulator

[Abstract] In this paper, a new teleoperation system consisting on the integration of a mobile manipulator, an UAV, and a haptic is presented. The camera of the UAV is used to give visual feedback to the operator. An algorithm is presented to allow the operator to command both the UAV and the mobile manipulator while keeping the point of view pointing towards the robot by only using a single haptic device. The presented algorithm combines a position-position and a position-velocity workspace mapping from the haptic to the mobile manipulator and the UAV, both in position and orientation. Further, a solution is presented that takes advantage of the null space of the mobile manipulator to keep the body and the arm of the mobile manipulator from occluding its own TCP and the object it is carrying, thus easing the teleoperation task. Experimentation has been carried on the system, both in a virtual and a real scenario, showing its potential in teleoperation scenarios. Overall, a novel teleoperation system and the ongoing progress towards its implementation in real situations is presented in this work.Gobierno de España; DPI2013-40882-PGobierno de España; DPI2014-57757-RGobierno de España; DPI2016-80077-RGobierno de España; BES-2012-05489