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Modeling and Controlling the Motion of a Manipulator with a Closed Kinematic Chain and a Linear Actuator

  • ROBOTICS
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Abstract

A method of robust control of a specialized manipulator designed to work as part of a robotic complex for servicing vertical surfaces is proposed and studied. The complex consists of a wheeled platform, a wheeled vertical motion robot with a vacuum contact device and a manipulator. In the transport position, the robot is attached to the operating element (gripper) of the manipulator and is located on the platform so that its contact plane is almost parallel to the plane of the platform. After the platform approaches the wall, the manipulator brings the robot into the working position, bringing its contact plane to the surface of the wall. Then the vacuum pump of the robot is switched on, the robot is sucked against the wall, disconnects from the grasp of the manipulator, and then moves along the wall in autonomous mode. This article describes the operation of the manipulator at the stage of bringing the robot into the working position.

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Authors and Affiliations

  1. Moscow Institute of Physics and Technology, Moscow, Russia

    M. Alhaddad

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  1. M. Alhaddad
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Correspondence to M. Alhaddad.

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Alhaddad, M. Modeling and Controlling the Motion of a Manipulator with a Closed Kinematic Chain and a Linear Actuator. J. Comput. Syst. Sci. Int. 60, 502–509 (2021). https://doi.org/10.1134/S1064230721020027

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  • DOI: https://doi.org/10.1134/S1064230721020027

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