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Research Papers

Dynamics and Control of a Planar Multibody Mobile Robot for Confined Environment Inspection

[+] Author and Article Information
Lounis Douadi

School of Electrical Engineering and
Computer Science,
University of Ottawa,
161 Louis Pasteur CBY,
Ottawa, ON K1N 6N5, Canada
e-mail: ldouadi@uottawa.ca

Davide Spinello

Department of Mechanical Engineering,
University of Ottawa,
161 Louis Pasteur CBY,
Ottawa, ON K1N 6N5, Canada
e-mail: dspinell@uottawa.ca

Wail Gueaieb

School of Electrical Engineering and
Computer Science,
University of Ottawa,
161 Louis Pasteur CBY,
Ottawa, ON K1N 6N5, Canada
e-mail: wgueaieb@eecs.uottawa.ca

1Corresponding author.

Manuscript received April 19, 2013; final manuscript received March 21, 2014; published online September 12, 2014. Assoc. Editor: Parviz Nikravesh.

J. Comput. Nonlinear Dynam 10(1), 011005 (Sep 12, 2014) (15 pages) Paper No: CND-13-1090; doi: 10.1115/1.4027303 History: Received April 19, 2013; Revised March 21, 2014

In this paper, we study the dynamics of an articulated planar mobile robot for confined environment exploration. The mobile vehicle is composed of n identical modules hitched together with passive revolute joints. Each module has the structure of a four-bar parallel mechanism on a mobile platform. The dynamic model is derived using Lagrange formulation. Computer simulations illustrate the model by addressing a path following problem inside a pipe. The dynamic model presented in this paper is the basis for the design of motion control algorithms that encode energy optimization and sensor performance maximization.

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Figures

Grahic Jump Location
Fig. 1

Kinematic scheme of the articulated mobile robot

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Fig. 2

Schematic of one module with notation

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Fig. 3

Right wheel contact with the pipe wall

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Fig. 4

Two serial singularities: (a) both arms are normal to the pipe walls and (b) only one arm is normal to the wall

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Fig. 5

Parallel singularity

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Fig. 6

PD control scheme; “IK” is the acronym of inverse kinematics

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Fig. 7

Key positions in a straight pipe with changing diameter

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Fig. 8

Linear and angular tracking errors when crossing the straight pipe with changing diameter. M1,…, M4 are labels for the modules, assigned progressively from the head (M1).

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Fig. 9

Modules' joint torques: crossing the straight pipe

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Fig. 10

Initial, intermediate, and final positions of a module when crossing a pipe with elbow, while tracking the axis of the pipe

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Fig. 11

Linear and angular tracking errors of a module while tracking the axis of a pipe with elbow. M1 labels the only module simulated in this case.

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Fig. 12

Joint torques of a module when crossing a pipe with elbow and tracking its axis

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Fig. 13

Three configurations of the articulated vehicle while tracking the axis of a pipe with elbow

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Fig. 14

Linear and angular tracking errors for the articulated vehicle while tracking the axis of a pipe with elbow. M1,…, M4 are labels for the modules, assigned progressively from the head (M1).

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Fig. 15

Modules' joint torques: crossing a pipe with elbow

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Fig. 16

For one module crossing an elbow: coefficients of friction computed by using the Coulomb friction model, with values computed from Lagrange multipliers

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Fig. 17

For one module crossing an elbow: gap between the wall and the wheels

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