Dynamic modeling and control of cleaning robot for agro-photovoltaic

In this paper, modeling and control of a robotic carrier for the cleaning system of solar farms are presented. Since solar panels are placed in natural environments, there is always a problem of dust accumulation on the panels, which results in absorbed energy reduction. Hence, robotic cleaners can be used for solar panels. For relocation of the cleaning robot between solar panel rows, an automated carrier mechanism is required. Hence, a robotic system for cleaner displacement is introduced, and its dynamics modeling and control are presented. The robot kinetics and kinematics models have been derived and validated by ADAMS software. Hence, kinetics and kinematics model-based controllers are introduced for robot motion control. Using the kinetics model, a computed torque method controller is designed and simulated. For less computational effort, a transposed Jacobian controller is designed, using the kinematics model. Finally, to increase control performance, an modified transposed Jacobian controller is also designed. The desired trajectory is designed for the robot. Finally, for software verification and analysis, the controllers are simulated, using co-simulation of MATLAB Simulink and ADAMS model. The simulation results show the satisfactory performance of the controllers and can be used for further design analysis of the prototype.