Climbing with Robots: A Second Order Controller Design for Accurate Wheel Motion Positioning

Year 2024, , 175 - 187, 28.03.2024

Claudia Fernanda Yaşar

https://doi.org/10.21605/cukurovaumfd.1459428

Abstract

Climbing robots have become increasingly important for applications such as inspection, maintenance, and search and rescue in complex environments. This study presents studies on the design of a climbing robotic prototype that utilizes magnetic wheels for wall attachment and model-based control using algebraic second-order regulators for robust, accurate and fast positioning. The control approach uses the dynamics of the driving system with DC motors subject to high disturbance, including real physical constraints such as Coulomb friction, magnetic forces, and gravity. This controller uses pre-generated soft inputs in the form of high-order Bezier curves to reduce stall motor torques. Simulations of the robotic system's dynamic models were conducted using MATLAB, and experimental validation of the model-based control method was performed. The study validates the use of algebraic second-order controllers for monophasic DC motors to control the positioning of a climbing system subjected to high perturbations.

Keywords

Climbing robots, Motion control, Second order controllers, Robust control, Wheel positioning

Tırmanma Robotları: Hassas Tekerlek Konumlandırması için İkinci Dereceden Kontrolör Tasarımı

Abstract

Tırmanma robotları, zorlu ortamlarda denetim, bakım ve arama kurtarma gibi uygulamalar için giderek önemli hale gelmiştir. Bu çalışma, duvara tutunmak için manyetik tekerleklere sahip bir tırmanma robotu sisteminin tasarımı ile dayanıklı, doğru ve hızlı konumlandırma için cebirsel ikinci dereceden model tabanlı kontrolör uygulamasını ele almaktadır. Kontrol yaklaşımı oluşturulurken, Coulomb sürtünmesi, manyetik kuvvetler ve yerçekimi gibi gerçek fiziksel kısıtlamalar da dâhil olmak üzere yüksek bozuculara maruz kalan DC motorlu sürüş sisteminin dinamik bir modeli göz önüne alınmaktadır. Bu kontrol yaklaşımında, durma motor torklarını azaltmak için yüksek dereceli Bezier eğrileri şeklinde önceden oluşturulmuş yumuşak girdiler kullanılmaktadır. Robotik sistemin dinamik modellerinin benzetim çalışmaları MATLAB ortamında gerçekleştirilmiş ve model tabanlı kontrol yönteminin deneysel uygulaması yapılmıştır. Bu çalışma, yüksek bozucuların etkilediği bir tırmanma sisteminin konumlandırılmasını kontrol etmek için monofaze DC motorlar için cebirsel ikinci dereceden kontrolörlerin kullanımını ele almaktadır.

Keywords

Tırmanma robotları, Hareket kontrolü, İkinci dereceden kontrolörler, Dayanıklı kontrol, Tekerlek konumlandırma

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