Continuous path tracing by a cable-suspended, under-actuated robot: The winch-bot
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Asada_Continuous path.pdf
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896.63 KB
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Adobe PDF
Checksum (MD5)
ebf05990fd1d41d4571ea17235f5e941
Author(s)
Cunningham, Daniel P.
Asada, Harry
Date Issued
July 2010
Journal
Proceedings of the 2010 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers
Citation
Cunningham, Daniel P, and H Harry Asada. “Continuous Path Tracing by a Cable-suspended, Under-actuated Robot: The Winch-Bot.” 2010 IEEE International Conference on Robotics and Automation, Anchorage Convention District, May 3-8, 2010, Anchorage, Alaska, USA, IEEE, 2010. 1255–1260. Web. © 2010 IEEE.
Version
Final published version
Abstract
A simple, under-actuated robotic winch, called the “Winch-Bot,” is developed for surface inspection of a large object. The Winch-Bot, placed over an object surface, has only one actuator for tracing a free geometric path in a vertical plane. The cable length is controlled in relation to the direction of the cable so that the inspection end-effecter hanging at the tip of the cable can follow the path dynamically despite the lack of full degrees of freedom. We analyze the tracing dynamics, address under what conditions a given geometric path can be traced (traceability conditions), and prove under what conditions the tracing motion is repetitive. A controller utilizing partial feedback linearization is proposed, and simulations are used to validate the explored traceability criteria and to confirm the controller's performance improvement.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509358
