Paper Info
Title
Dynamic Modeling and Experimental Valida-tion of Door-Opening Process by a Mobile Manipulator
Abstract
Door-opening is a critical problem for robots used for rescue purposes in nuclear power plants (NPPs). A force and torque (F/T) sensor is not used in the rescue task for door-opening in the NPPs environment. It is, therefore, necessary to study the dynamic model of door-opening. The NPPs door and a door handle dynamic model are significant to the mechanical design, simulation, and dynamic feed-forward control of an NPP robot. To obtain the accurate force data of door-opening, a method based on a gravity compensation algorithm combined with a transformation of the contact force of the end effector is proposed. This paper analyzes the structural features and dynamics model of a fire door and a door handle. Methods for identifying the model parameters are also developed by combining a Nelder-Mead simplex search with the least-squares algorithm. The extensive door-opening experiments were carried out in this paper, and the results validate the fidelity of the derived dynamic models of the door and the door handle.
Year
DOI
Venue
2019
10.1109/ACCESS.2019.2919964
IEEE ACCESS
Keywords
Field
DocType
Door-opening dynamic model,parameter identification,mobile manipulator
Fire door,Torque,Computer science,Contact force,Robot end effector,Control engineering,System dynamics,Robot,Door handle,Mobile manipulator,Distributed computing
Journal
Volume
ISSN
Citations 
7
2169-3536
0
PageRank 
References 
Authors
0.34
0
7
Name
Order
Citations
PageRank
Haibo Gao124639.27
Changyou Ma260.79
Liang Ding326937.06
Yu Haitao4178.10
Ke-rui Xia5273.01
Hongjun Xing601.35
Zongquan Deng718540.95