Mobile robots are un-manned systems and must be able to overcome the obstacles they face without human intervention. In this research we have proposed a novel retractable mechanism which converts a linear hydraulic motion into expansion of six claws at each wheel. In order to control the expansion, optimal control theory was applied and a constrained optimization problem was defined using different Simulink toolboxes and applied to the mechanism modeled in SimHydraulics/SimMechanics. The main benefit of performing both hydraulic and mechanical system simulation and also control design in the same environment is to eliminate mathematical approximation of the model and using existing Simulink simulation tools for simulation and control. Systems were modeled and controller optimization was performed. Simulation results are illustrated at the end, which show the method's versatility and reliability for controlling the mechanism operation.
|School:||California State University, Long Beach|
|School Location:||United States -- California|
|Source:||MAI 52/05M(E), Masters Abstracts International|
|Subjects:||Mechanical engineering, Robotics|
|Keywords:||Matlab, Mobile robot, Novel mechanism design, Optimal control, Simulink|
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