Dynamic Model of Mobile Inspection Robot for Industrial Robot Applications
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The continued development of technology has seen a rapid increase in the use of industrial robots for manufacturing and processing tasks all over the industry. To be able to compete in todays industry efficiency is key. This brings to the table will to invest in industrial robots and their applications for smaller enterprises. However smaller enterprises might not be able to employ or otherwise obtain the expertise required for monitoring the industrial processes performed by industrial robot systems. It is obvious that a mobile inspection robot which can perform monitoring and inspection tasks and extract vital information could be useful as a means of remote process monitoring or observation in environments where humans cannot work safely. A mobile robot for inspection of industrial processes consisting of a robot manipulator mounted on a mobile platform has been proposed and in this thesis a dynamic model for the mobile robot manipulator will be provided. The model is determined by using the Newton-Euler Equations of Motion and provides a basis for determining the stability of the mobile robot manipulator and for further development of control strategies for the mobile robot manipulator. The dynamic model is verified through computer simulations in Matlab/Simulink software and is compared to the behaviour of a physical mobile robot manipulator which has been tested briefly at PPM AS. The model developed in this thesis is not a perfect depiction of the proposed mobile robot manipulator and thus some tweaks are necessary for the model to work entirely as expected.