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- W2034134290 abstract "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." @default.
- W2034134290 created "2016-06-24" @default.
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- W2034134290 date "2010-05-01" @default.
- W2034134290 modified "2023-10-16" @default.
- W2034134290 title "Continuous path tracing by a cable-suspended, under-actuated robot: The Winch-Bot" @default.
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- W2034134290 doi "https://doi.org/10.1109/robot.2010.5509358" @default.
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