|Mohammad Hossein Salehpour|
Distributed control system design and implementation of multi-robotic dome monitoring system
Dome-shaped structures are one of the most attractive parts in important ancient architectures, including beautiful and internationally admired domes. Similar to all other buildings, the cleaning, inspection, and repair tasks are necessary for these structures. Dome’s surfaces are not easily reachable and they are hard and dangerous to climb. These tasks involve high level of expertise and experience which are not easy to find and very costly. Due to these difficulties and issues there has been a robotic platform designed and implemented to climb steep surfaces such as domes. This multi-robotic platform includes N similar robots connected to each other through cables and arranging a robotic loop around the dome shaped structure. This robotic platform works on the dome based on cooperation between robots.
In this thesis, we represent a distributed method to control the prescribed robotic platform to obtain desired performance. In the proposed method, we develop a path for climbing the dome surface in a faster speed than the centralized methods. Another goal for this planning problem is to minimize the tension of the connecting cables. Minimizing this tension leads to a minimum pressure to the dome’s surface during the climbing phase, assuming there is an ideal controller on each single robot that can perform moving commands regardless to other robots status and behavior in the robotic loop. In this thesis, we present the prescribed controller. To obtain desired performance in different situations on the dome, robust control approaches. Firs a dynamic model of robot’s behavior on the dome is derived based on Lagrangian equations and then based on different situations that the robot can face during the action on the dome we obtain uncertainty and design a robust controller in presence of this uncertainty. In a sentence, it is said that here in this thesis, we represent a distributed controller for multi-robotic dome climbing platform and the novelty is that we solved the self-stability, which is an important issue in distributed problems.
|2018||M.Sc.||Dynamical Systems Analysis and Control|
|Mohammad Hossein Saadatzi|
Workspace and Singularity Analysis of 5–DOF Symmetrical Parallel Robots with Linear Actuators
|2011||M.Sc.||Parallel and Cable Robotics|