Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital Twin
Inspection robots, which improve hazard identification and enhance safety management, play a vital role in the examination of high-risk environments in many fields, such as power distribution, petrochemical, and new energy battery factories. Currently, the position precision of the robots is a major...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/24/24/8101 |
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| _version_ | 1850037075824345088 |
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| author | Renjun Li Xiaoyu Shang Yang Wang Chunbai Liu Linsen Song Yiwen Zhang Lidong Gu Xinming Zhang |
| author_facet | Renjun Li Xiaoyu Shang Yang Wang Chunbai Liu Linsen Song Yiwen Zhang Lidong Gu Xinming Zhang |
| author_sort | Renjun Li |
| collection | DOAJ |
| description | Inspection robots, which improve hazard identification and enhance safety management, play a vital role in the examination of high-risk environments in many fields, such as power distribution, petrochemical, and new energy battery factories. Currently, the position precision of the robots is a major barrier to their broad application. Exact kinematic model and control system of the robots is required to improve their location accuracy during movement on the unstructured surfaces. By a virtual engine and digital twins, this study put forward a visualization monitoring and control system framework which can address the difficulties in the intelligent factories while managing a variety of data sources, such as virtual–real integration, real-time feedback, and other issues. To develop a more realistic dynamic model for the robots, we presented a neural-network-based compensation technique for the nonlinear dynamic model parameters of outdoor mobile robots. A physical prototype was applied in the experiments, and the results showed that the system is capable of controlling and monitoring outdoor mobile robots online with good visualization effects and high real-time performance. By boosting the positional accuracy of robots by 18% when navigating obstacles, the proposed precise kinematic model can increase the inspection efficiency of robots. The visualization monitoring and control system enables visual, digital, multi-method, and complete real-time inspections in high-risk factories, such as new energy battery factories, to ensure the safe and stable operations. |
| format | Article |
| id | doaj-art-ecc23736e52a44cebb093bf01edc9a00 |
| institution | DOAJ |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-ecc23736e52a44cebb093bf01edc9a002025-08-20T02:56:58ZengMDPI AGSensors1424-82202024-12-012424810110.3390/s24248101Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital TwinRenjun Li0Xiaoyu Shang1Yang Wang2Chunbai Liu3Linsen Song4Yiwen Zhang5Lidong Gu6Xinming Zhang7School of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaSchool of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaChangchun Guanghua Microelectronic Equipment Engineering Center Co., Ltd., Changchun 130012, ChinaFAW Foundry Co., Ltd., Changchun 130022, ChinaSchool of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaSchool of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaSchool of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaSchool of Mechanical Engineering and Automation, Foshan University, Foshan 528225, ChinaInspection robots, which improve hazard identification and enhance safety management, play a vital role in the examination of high-risk environments in many fields, such as power distribution, petrochemical, and new energy battery factories. Currently, the position precision of the robots is a major barrier to their broad application. Exact kinematic model and control system of the robots is required to improve their location accuracy during movement on the unstructured surfaces. By a virtual engine and digital twins, this study put forward a visualization monitoring and control system framework which can address the difficulties in the intelligent factories while managing a variety of data sources, such as virtual–real integration, real-time feedback, and other issues. To develop a more realistic dynamic model for the robots, we presented a neural-network-based compensation technique for the nonlinear dynamic model parameters of outdoor mobile robots. A physical prototype was applied in the experiments, and the results showed that the system is capable of controlling and monitoring outdoor mobile robots online with good visualization effects and high real-time performance. By boosting the positional accuracy of robots by 18% when navigating obstacles, the proposed precise kinematic model can increase the inspection efficiency of robots. The visualization monitoring and control system enables visual, digital, multi-method, and complete real-time inspections in high-risk factories, such as new energy battery factories, to ensure the safe and stable operations.https://www.mdpi.com/1424-8220/24/24/8101digital twinsinspection robotsnonlinear dynamicsparameter compensation |
| spellingShingle | Renjun Li Xiaoyu Shang Yang Wang Chunbai Liu Linsen Song Yiwen Zhang Lidong Gu Xinming Zhang Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital Twin Sensors digital twins inspection robots nonlinear dynamics parameter compensation |
| title | Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital Twin |
| title_full | Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital Twin |
| title_fullStr | Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital Twin |
| title_full_unstemmed | Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital Twin |
| title_short | Research on Parameter Compensation Method and Control Strategy of Mobile Robot Dynamics Model Based on Digital Twin |
| title_sort | research on parameter compensation method and control strategy of mobile robot dynamics model based on digital twin |
| topic | digital twins inspection robots nonlinear dynamics parameter compensation |
| url | https://www.mdpi.com/1424-8220/24/24/8101 |
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