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General information |
| Author |
Somolinos, José Andrés; López, Amable; Morales, Rafael; Morón, Carlos |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
One of the most important design constraints of
a climbing robot is its own weight. When links or legs are
used as a locomotion system they tend to be composed of
special lightweight materials, or four‐bars‐linkage
mechanisms are designed to reduce the weight with small
rigidity looses. In these cases, flexibility appears and
undesirable effects, such as dynamics vibrations, must be
avoided at least when the robot moves at low speeds. The
knowledge of the real tip position requires the
computation of its compliance or stiffness matrix and the
external forces applied to the structure. Gravitational
forces can be estimated, but external tip forces need to be
measured. This paper proposes a strain gauge system
which achieves the following tasks: (i) measurement of
the external tip forces, and (ii) estimation of the real tip
position (including flexibility effects). The main
advantages of the proposed system are: (a) the use of
external force sensors is avoided, and (b) a substantial
reduction of the robot weight is achieved in comparison
with other external force measurement systems. The
proposed method is applied to a real symmetric climbing
robot and experimental results are presented. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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