Stabilising an inverted pendulum on a cart is a well-known control problem. This paper proposes the mechanical and control design for solving the oscillation problem of a variable-length flexible beam mounted on a mobile robot. The system under consideration is the robot PovRob, used at the European Organization for Nuclear Research (CERN) for visual and remote inspection tasks of particle accelerators. The flexible beam mounted on the robot houses cameras and sensors. The innovative aspect of the approach concerns the use of actuated masses mounted at the end of the rod, which induces an impulsive moment due to their inertia and angular acceleration. The modelling of the flexible rod has been suitably simplified in a lumped-parameter system, with dynamic parameters related to the rod’s flexibility. A linearisation of the dynamic model allows a linear-quadratic control to stabilise the system. Experimental results support the identification and the validation of the dynamic model, while simulation results evaluate the performances of the designed control law.


    Access

    Download


    Export, share and cite



    Title :

    Modelling and control of a variable-length flexible beam on inspection ground robot



    Publication date :

    2022-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    FLEXIBLE INSPECTION ROBOT

    BRYNER EDWARD A / JOURDE DILLON R / CHO EDWIN H et al. | European Patent Office | 2024

    Free access

    FLEXIBLE INSPECTION ROBOT

    BRYNER EDWARD A / JOURDE DILLON R / CHO EDWIN H et al. | European Patent Office | 2022

    Free access

    FLEXIBLE INSPECTION ROBOT

    BRYNER EDWARD A / JOURDE DILLON R / CHO EDWIN H et al. | European Patent Office | 2022

    Free access

    Air-ground integrated inspection robot

    YU KUNYU / QIN BO / CHEN LONG et al. | European Patent Office | 2023

    Free access

    PIPELINE INSPECTION ROBOT WITH VARIABLE TRACKS AND CONTROL METHOD THEREFOR

    SONG AIGUO / MIAO TIANYUAN / SHAO BINCHENG et al. | European Patent Office | 2022

    Free access