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|a Cunningham, Daniel P.
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|a Massachusetts Institute of Technology. Department of Mechanical Engineering
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|a Cunningham, Daniel P.
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|a Asada, Harry
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|a Asada, Harry
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|a Continuous path tracing by a cable-suspended, under-actuated robot: The winch-bot
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|b Institute of Electrical and Electronics Engineers,
|c 2013-02-14T21:12:56Z.
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|z Get fulltext
|u http://hdl.handle.net/1721.1/77092
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|a A simple, under-actuated robotic winch, called the "Winch-Bot," is developed for surface inspection of a large object. The Winch-Bot, placed over an object surface, has only one actuator for tracing a free geometric path in a vertical plane. The cable length is controlled in relation to the direction of the cable so that the inspection end-effecter hanging at the tip of the cable can follow the path dynamically despite the lack of full degrees of freedom. We analyze the tracing dynamics, address under what conditions a given geometric path can be traced (traceability conditions), and prove under what conditions the tracing motion is repetitive. A controller utilizing partial feedback linearization is proposed, and simulations are used to validate the explored traceability criteria and to confirm the controller's performance improvement.
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|a Boeing Company
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|a en_US
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|a Article
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|t Proceedings of the 2010 IEEE International Conference on Robotics and Automation
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