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5 pages, 198 KiB

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Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems

by Paolo Boscariol and Dario Richiedei

Appl. Sci. 2020, 10(14), 4982; https://doi.org/10.3390/app10144982 - 20 Jul 2020

Cited by 7 | Viewed by 2658

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(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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25 pages, 17627 KiB

Open AccessArticle

Real-Time Hybrid Navigation System-Based Path Planning and Obstacle Avoidance for Mobile Robots

by Phan Gia Luan and Nguyen Truong Thinh

Appl. Sci. 2020, 10(10), 3355; https://doi.org/10.3390/app10103355 - 12 May 2020

Cited by 38 | Viewed by 5912

Abstract

In this work, we present a complete hybrid navigation system for a two-wheel differential drive mobile robot that includes static-environment- global-path planning and dynamic environment obstacle-avoidance tasks. By the given map, we propose a multi-agent A-heuristic algorithm for finding the optimal obstacle-free path. [...] Read more.

In this work, we present a complete hybrid navigation system for a two-wheel differential drive mobile robot that includes static-environment- global-path planning and dynamic environment obstacle-avoidance tasks. By the given map, we propose a multi-agent A-heuristic algorithm for finding the optimal obstacle-free path. The result is less time-consuming and involves fewer changes in path length when dealing with multiple agents than the ordinary A-heuristic algorithm. The obtained path was smoothed based on curvature-continuous piecewise cubic Bézier curve (C² PCBC) before being used as a trajectory by the robot. In the second task of the robot, we supposed any unforeseen obstacles were recognized and their moving frames were estimated by the sensors when the robot tracked on the trajectory. In order to adapt to the dynamic environment with the presence of constant velocity obstacles, a weighted-sum model (WSM) was employed. The 2D LiDAR data, the robot’s frame and the detected moving obstacle’s frame were collected and fed to the WSM during the movement of the robot. Through this information, the WSM chose a temporary target and a C² PCBC-based subtrajectory was generated that led the robot to avoid the presented obstacle. Experimentally, the proposed model responded well in existing feasible solution cases with fine-tuned model parameters. We further provide the re-path algorithm that helped the robot track on the initial trajectory. The experimental results show the real-time performance of the system applied in our robot. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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13 pages, 452 KiB

Open AccessArticle

Energy Optimization of Functionally Redundant Robots through Motion Design

by Paolo Boscariol, Roberto Caracciolo, Dario Richiedei and Alberto Trevisani

Appl. Sci. 2020, 10(9), 3022; https://doi.org/10.3390/app10093022 - 26 Apr 2020

Cited by 20 | Viewed by 4791

Abstract

This work proposes to exploit functional redundancy as a tool to enhance the energy efficiency of a robotic system. In a functionally redundant system, i.e., one in which the number of degrees of freedom required to complete the task is smaller than the [...] Read more.

This work proposes to exploit functional redundancy as a tool to enhance the energy efficiency of a robotic system. In a functionally redundant system, i.e., one in which the number of degrees of freedom required to complete the task is smaller than the number of available degrees of freedom, the motion of the extra degrees of freedom can be tailored to enhance a performance metric. This work showcases a method that can be used to effectively enhance the energy efficiency through motion design, using a detailed dynamic model of the UR5 serial robot arm. The method is based on an optimization of the motion profile, using a parametrized description of the end-effector orientation: the results showcase an increased efficiency that allows energy savings up to 20.8%, according to the energy consumption results according to the electro-mechanical dynamic model of the robot. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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16 pages, 5803 KiB

Open AccessArticle

Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot

by Eduardo Corral, M.J. Gómez García, Cristina Castejon, Jesús Meneses and Raúl Gismeros

Appl. Sci. 2020, 10(7), 2342; https://doi.org/10.3390/app10072342 - 29 Mar 2020

Cited by 47 | Viewed by 5134

Abstract

This work presents and discusses a general approach for the dynamic modeling and analysis of a passive biped walking robot, with a particular focus on the feet-ground contact interaction. The main purpose of this investigation is to address the supporting foot slippage and [...] Read more.

This work presents and discusses a general approach for the dynamic modeling and analysis of a passive biped walking robot, with a particular focus on the feet-ground contact interaction. The main purpose of this investigation is to address the supporting foot slippage and viscoelastic dissipative contact forces of the biped robot-walking model and to develop its dynamics equations for simple and double support phases. For this investigation, special attention has been given to the detection of the contact/impact between the legs of the biped and the ground. The results have been obtained with multibody system dynamics applying forward dynamics. This study aims at examining and comparing several force models dealing with different approaches in the context of multibody system dynamics. The normal contact forces developed during the dynamic walking of the robot are evaluated using several models: Hertz, Kelvin-Voight, Hunt and Crossley, Lankarani and Nikravesh, and Flores. Thanks to this comparison, it was shown that the normal force that works best for this model is the dissipative Nonlinear Flores Contact Force Model (hysteresis damping parameter - energy dissipation). Likewise, the friction contact/impact problem is solved using the Bengisu equations. The numerical results reveal that the stable periodic solutions are robust. Integrators and resolution methods are also purchased, in order to obtain the most efficient ones for this model. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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20 pages, 794 KiB

Open AccessArticle

An Alternative Method for Shaking Force Balancing of the 3RRR PPM through Acceleration Control of the Center of Mass

by Mario Acevedo, María T. Orvañanos-Guerrero, Ramiro Velázquez and Vigen Arakelian

Appl. Sci. 2020, 10(4), 1351; https://doi.org/10.3390/app10041351 - 17 Feb 2020

Cited by 9 | Viewed by 3410

Abstract

The problem of shaking force balancing of robotic manipulators, which allows the elimination or substantial reduction of the variable force transmitted to the fixed frame, has been traditionally solved by optimal mass redistribution of the moving links. The resulting configurations have been achieved [...] Read more.

The problem of shaking force balancing of robotic manipulators, which allows the elimination or substantial reduction of the variable force transmitted to the fixed frame, has been traditionally solved by optimal mass redistribution of the moving links. The resulting configurations have been achieved by adding counterweights, by adding auxiliary structures or, by modifying the form of the links from the early design phase. This leads to an increase in the mass of the elements of the mechanism, which in turn leads to an increment of the torque transmitted to the base (the shaking moment) and of the driving torque. Thus, a balancing method that avoids the increment in mass is very desirable. In this article, the reduction of the shaking force of robotic manipulators is proposed by the optimal trajectory planning of the common center of mass of the system, which is carried out by “bang-bang” profile. This allows a considerable reduction in shaking forces without requiring counterweights, additional structures, or changes in form. The method, already presented in the literature, is resumed in this case using a direct and easy to automate modeling technique based on fully Cartesian coordinates. This permits to express the common center of mass, the shaking force, and the shaking moment of the manipulator as simple analytic expressions. The suggested modeling procedure and balancing technique are illustrated through the balancing of the 3RRR planar parallel manipulator (PPM). Results from computer simulations are reported. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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19 pages, 2174 KiB

Open AccessArticle

Robust Estimation of Vehicle Motion States Utilizing an Extended Set-Membership Filter

by Jianfeng Chen, Congcong Guo, Shulin Hu, Jiantian Sun, Reza Langari and Chuanye Tang

Appl. Sci. 2020, 10(4), 1343; https://doi.org/10.3390/app10041343 - 16 Feb 2020

Cited by 5 | Viewed by 2736

Abstract

Reliable vehicle motion states are critical for the precise control performed by vehicle active safety systems. This paper investigates a robust estimation strategy for vehicle motion states by feat of the application of the extended set-membership filter (ESMF). In this strategy, a system [...] Read more.

Reliable vehicle motion states are critical for the precise control performed by vehicle active safety systems. This paper investigates a robust estimation strategy for vehicle motion states by feat of the application of the extended set-membership filter (ESMF). In this strategy, a system noise source is only limited as unknown but bounded, rather than the Gaussian white noise claimed in the stochastic filtering algorithms, such as the unscented Kalman filter (UKF). Moreover, as one part of this strategy, a calculation scheme with simple structure is proposed to acquire the longitudinal and lateral tire forces with acceptable accuracy. Numerical tests are carried out to verify the performance of the proposed strategy. The results indicate that as compared with the UKF-based one, it not only has higher accuracy, but also can provide a 100% hard boundary which contains the real values of the vehicle states, including the vehicle’s longitudinal velocity, lateral velocity, and sideslip angle. Therefore, the ESMF-based strategy can proffer a more guaranteed estimation with robustness for practical vehicle active safety control. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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23 pages, 5445 KiB

Open AccessArticle

Trajectory Optimization of Pickup Manipulator in Obstacle Environment Based on Improved Artificial Potential Field Method

by Haibo Zhou, Shun Zhou, Jia Yu, Zhongdang Zhang and Zhenzhong Liu

Appl. Sci. 2020, 10(3), 935; https://doi.org/10.3390/app10030935 - 31 Jan 2020

Cited by 21 | Viewed by 3979

Abstract

In order to realize the technique of quick picking and obstacle avoidance, this work proposes a trajectory optimization method for the pickup manipulator under the obstacle condition. The proposed method is based on the improved artificial potential field method and the cosine adaptive [...] Read more.

In order to realize the technique of quick picking and obstacle avoidance, this work proposes a trajectory optimization method for the pickup manipulator under the obstacle condition. The proposed method is based on the improved artificial potential field method and the cosine adaptive genetic algorithm. Firstly, the Denavit–Hartenberg (D-H) method is used to carry out the kinematics modeling of the pickup manipulator. Taking into account the motion constraints, the cosine adaptive genetic algorithm is utilized to complete the time-optimal trajectory planning. Then, for the collision problem in the obstacle environment, the artificial potential field method is used to establish the attraction, repulsion, and resultant potential field functions. By improving the repulsion potential field function and increasing the sub-target point, obstacle avoidance planning of the improved artificial potential field method is completed. Finally, combined with the improved artificial potential field method and cosine adaptive genetic algorithm, the movement simulation analysis of the five-Degree-of-Freedom pickup manipulator is carried out. The trajectory optimization under the obstacle environment is realized, and the picking efficiency is improved. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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18 pages, 2096 KiB

Open AccessArticle

A Gesture-Based Teleoperation System for Compliant Robot Motion

by Wei Zhang, Hongtai Cheng, Liang Zhao, Lina Hao, Manli Tao and Chaoqun Xiang

Appl. Sci. 2019, 9(24), 5290; https://doi.org/10.3390/app9245290 - 4 Dec 2019

Cited by 28 | Viewed by 5779

Abstract

Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for compliant robot motion is proposed. By using the left hand as the [...] Read more.

Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for compliant robot motion is proposed. By using the left hand as the commander and the right hand as a positioner, different operation modes and scaling ratios can be tuned on-the-fly to meet the accuracy and efficiency requirements. Moreover, a vibration-based force feedback system was developed to provide the operator with a telepresence capability. The pick-and-place and peg-in-hole tasks were used to test the effectiveness of the teleoperation system we developed. The experiment results prove that the gesture-based teleoperation system is effective at handling compliant robot motions. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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11 pages, 4801 KiB

Open AccessArticle

Whole-Body Motion Planning for a Six-Legged Robot Walking on Rugged Terrain

by Jie Chen, Fan Gao, Chao Huang and Jie Zhao

Appl. Sci. 2019, 9(24), 5284; https://doi.org/10.3390/app9245284 - 4 Dec 2019

Cited by 10 | Viewed by 5655

Abstract

Whole-body motion planning is a key ability for legged robots, which allows for the generation of terrain adaptive behaviors and thereby improved mobility in complex environment. To this end, this paper addresses the issue of terrain geometry based whole-body motion planning for a [...] Read more.

Whole-body motion planning is a key ability for legged robots, which allows for the generation of terrain adaptive behaviors and thereby improved mobility in complex environment. To this end, this paper addresses the issue of terrain geometry based whole-body motion planning for a six-legged robot over a rugged terrain. The whole-body planning is decomposed into two sub-tasks: leg support and swing. For leg support planning, the target pose of the robot torso in a walking step is first found by maximizing the stability margin at the moment of support-swing transition and matching the orientation of the support polygon formed by target footholds. Then, the torso and thereby the leg support trajectories are generated using cubic spline interpolation and transferred into joint space through inverse kinematics. In terms of leg swing planning, the trajectories in a walking step are generated by solving an optimal problem that satisfies three constraints and a bioinspired objective function. The proposed whole-body motion planning strategies are implemented with a simulation and a real-world six-legged robot, and the results show that stable and collision-free motions can be produced for the robot over rugged terrains. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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21 pages, 530 KiB

Open AccessArticle

Flexible-Link Multibody System Eigenvalue Analysis Parameterized with Respect to Rigid-Body Motion

by Ilaria Palomba and Renato Vidoni

Appl. Sci. 2019, 9(23), 5156; https://doi.org/10.3390/app9235156 - 28 Nov 2019

Cited by 8 | Viewed by 3188

Abstract

The dynamics of flexible multibody systems (FMBSs) is governed by ordinary differential equations or differential-algebraic equations, depending on the modeling approach chosen. In both the cases, the resulting models are highly nonlinear. Thus, they are not directly suitable for the application of the [...] Read more.

The dynamics of flexible multibody systems (FMBSs) is governed by ordinary differential equations or differential-algebraic equations, depending on the modeling approach chosen. In both the cases, the resulting models are highly nonlinear. Thus, they are not directly suitable for the application of the modal analysis and the development of modal models, which are very useful for several advanced engineering techniques (e.g., motion planning, control, and stability analysis of flexible multibody systems). To define and solve an eigenvalue problem for FMBSs, the system dynamics has to be linearized about a selected configuration. However, as modal parameters vary nonlinearly with the system configuration, they should be recomputed for each change of the operating point. This procedure is computationally demanding. Additionally, it does not provide any numerical or analytical correlation between the eigenpairs computed in the different operating points. This paper discusses a parametric modal analysis approach for FMBSs, which allows to derive an analytical polynomial expression for the eigenpairs as function of the system configuration, by solving a single eigenvalue problem and using only matrix operations. The availability of a similar modal model, which explicitly depends on the system configuration, can be very helpful for, e.g., model-based motion planning and control strategies towards to zero residual vibration employing the system modal characteristics. Moreover, it allows for an easy sensitivity analysis of modal characteristics to parameter uncertainties. After the theoretical development, the method is applied and validated on a flexible multibody system, specifically using the Equivalent Rigid Link System dynamic formulation. Finally, numerical results are presented and discussed. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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12 pages, 644 KiB

Open AccessArticle

Saturation Based Nonlinear FOPD Motion Control Algorithm Design for Autonomous Underwater Vehicle

by Lichuan Zhang, Lu Liu, Shuo Zhang and Sheng Cao

Appl. Sci. 2019, 9(22), 4958; https://doi.org/10.3390/app9224958 - 18 Nov 2019

Cited by 8 | Viewed by 2630

Abstract

The application of Autonomous Underwater Vehicle (AUV) is expanding rapidly, which drives the urgent need of its autonomy improvement. Motion control system is one of the keys to improve the control and decision-making ability of AUVs. In this paper, a saturation based nonlinear [...] Read more.

The application of Autonomous Underwater Vehicle (AUV) is expanding rapidly, which drives the urgent need of its autonomy improvement. Motion control system is one of the keys to improve the control and decision-making ability of AUVs. In this paper, a saturation based nonlinear fractional-order PD (FOPD) controller is proposed for AUV motion control. The proposed controller is can achieve better dynamic performance as well as robustness compared with traditional PID type controller. It also has the advantages of simple structure, easy adjustment and easy implementation. The stability of the AUV motion control system with the proposed controller is analyzed through Lyapunov method. Moreover, the controlled performance can also be adjusted to satisfy different control requirements. The outperformed dynamic control performance of AUV yaw and depth systems with the proposed controller is shown by the set-point regulation and trajectory tracking simulation examples. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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16 pages, 4054 KiB

Open AccessArticle

A SAKF-Based Composed Control Method for Improving Low-Speed Performance and Stability Accuracy of Opto-Electric Servomechanism

by Chao Qi, Xianliang Jiang, Xin Xie and Dapeng Fan

Appl. Sci. 2019, 9(21), 4498; https://doi.org/10.3390/app9214498 - 23 Oct 2019

Cited by 4 | Viewed by 2409

Abstract

The opto-electric servomechanism (OES) plays an important role in obtaining clear and stable images from airborne infrared detectors. However, the inherent torque disturbance and the noisy speed signal cause a significant decline in the inertial stability accuracy and low-speed performances of OESs. Traditional [...] Read more.

The opto-electric servomechanism (OES) plays an important role in obtaining clear and stable images from airborne infrared detectors. However, the inherent torque disturbance and the noisy speed signal cause a significant decline in the inertial stability accuracy and low-speed performances of OESs. Traditional linear control schemes cannot deal with the nonlinear torque disturbance well, and the speed obtained by the finite difference (FD) method cannot effectively balance the tradeoff between the noise filtering and phase delay. Therefore, this paper proposes a strap-down stability control scheme, in the combination of a proportional-integral(PI) controller and a state-augmented Kalman filter (SAKF), where the PI is used to regulate the linear part of the servomechanism, and with the SAKF performing torque disturbance observation and speed estimation simultaneously. The principle and the implementation of the controller are introduced, and the tuning guidelines for the controller parameters are presented as well. Finally, the experimental verifications based on OESs with three transmission types (i.e., the direct-driving, the harmonic-driving, and the rotate vector-driving(RV-driving) OESs) are carried out respectively. The experimental results show that the proposed control scheme can perform better speed observation and torque disturbance compensation for various types of OESs, thus effectively improving the low-speed performance and stability accuracy of the mechanism. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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13 pages, 914 KiB

Open AccessArticle

Command-Filtered Backstepping Integral Sliding Mode Control with Prescribed Performance for Ship Roll Stabilization

by Zhongjia Jin, Weiming Zhang, Sheng Liu and Min Gu

Appl. Sci. 2019, 9(20), 4288; https://doi.org/10.3390/app9204288 - 12 Oct 2019

Cited by 18 | Viewed by 2950

Abstract

In this paper, a novel, robust fin controller based on the backstepping control strategy and sliding mode control is proposed to handle the problem of ship roll stabilization. First, the mathematical model of the fin control system is established, including the modeling errors [...] Read more.

In this paper, a novel, robust fin controller based on the backstepping control strategy and sliding mode control is proposed to handle the problem of ship roll stabilization. First, the mathematical model of the fin control system is established, including the modeling errors and the external disturbances generated by sea waves. In order to address the side effects caused by differential expansion, a command-filter is implemented within the backstepping controller design. By introducing a new performance function and a corresponding error transformation, the compensated tracking error can be bounded to achieve the desired prescribed dynamic and steady-state responses. The sliding mode disturbance rejection control with prescribed performance is realized by combining the disturbance observer. Simulations are presented to demonstrate the effectiveness of the proposed control scheme. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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19 pages, 4778 KiB

Open AccessArticle

The Complex Dynamic Locomotive Control and Experimental Research of a Quadruped-Robot Based on the Robot Trunk

by Dongyi Ren, Junpeng Shao, Guitao Sun and Xuan Shao

Appl. Sci. 2019, 9(18), 3911; https://doi.org/10.3390/app9183911 - 18 Sep 2019

Cited by 12 | Viewed by 4796

Abstract

The research of quadruped robots is fundamentally motivated by their excellent performance in complex terrain. Maintaining the trunk moving smoothly is the basis of assuring the stable locomotion of the robot. In this paper we propose a planning and control strategy for the [...] Read more.

The research of quadruped robots is fundamentally motivated by their excellent performance in complex terrain. Maintaining the trunk moving smoothly is the basis of assuring the stable locomotion of the robot. In this paper we propose a planning and control strategy for the pacing gait of hydraulic quadruped robots based on the centroid. Initially, the kinematic model between the single leg and the robot trunk was established. The coupling of trunk motion and leg motion was elaborated on in detail. Then, the real-time attitude feedback information of the trunk was considered, the motion trajectory of the trunk centroid was planned, and the foot trajectory of the robot was carried out. Further, the joint torques were calculated that fulfillment minimization of the contact forces. The position and attitude of the robot trunk were adjusted by the presented controller. Finally, the performance of the proposed control framework was tested in simulations and on a robot platform. By comparing the attitude of the robot trunk, the experimental results show that the trunk moved smoothly with small-magnitude by the proposed controller. The stable dynamic motion of the hydraulic quadruped robot was accomplished, which verified the effectiveness and feasibility of the proposed control strategy. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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15 pages, 1876 KiB

Open AccessArticle

Anti-Slip Gait Planning for a Humanoid Robot in Fast Walking

by Fangzhou Zhao and Junyao Gao

Appl. Sci. 2019, 9(13), 2657; https://doi.org/10.3390/app9132657 - 29 Jun 2019

Cited by 9 | Viewed by 3972

Abstract

Humanoid robots are expected to have broad applications due to their biped mobility and human-like shape. To increase the walking speed, it is necessary to increase the power for driving the joints of legs. However, the resulting mass increasing of the legs leads [...] Read more.

Humanoid robots are expected to have broad applications due to their biped mobility and human-like shape. To increase the walking speed, it is necessary to increase the power for driving the joints of legs. However, the resulting mass increasing of the legs leads to a rotational slip when a robot is walking fast. In this paper, a 3D three-mass model is proposed, in which both the trunk and thighs are regarded as an inverted pendulum, and the shanks and feet are considered as mass-points under no constraints with the trunk. Then based on the model, a friction constraint method is proposed to plan the trajectory of the swing leg in order to achieve the fastest walking speed without any rotational slip. Furthermore, the compensation for zero-moment point (ZMP) is calculated based on the 3D three-mass model, and the hip trajectory is obtained based on the compensated ZMP trajectory by using the preview control method, thus improving the robot’s overall ZMP follow-up effect. This planning method involves simple calculations but reliable results. Finally, simulations confirm that the rotational slip is avoided while stable and fast walking is realized, with free joints of the waist and arms, which then could be planned for other tasks. Full article

(This article belongs to the Special Issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems)

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