Continuous path tracing by a cable-suspended, under-actuated robot: The winch-bot
Author(s)Cunningham, Daniel P.; Asada, Harry
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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.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Proceedings of the 2010 IEEE International Conference on Robotics and Automation
Institute of Electrical and Electronics Engineers
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.
Final published version
INSPEC Accession Number: 11430971