Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System

F. Hajiahmadi; P. Zarafshan; M. Dehghani; S. Ali A. Moosavian; S. R. Hassan-Beygi

doi:10.1109/ICRoM48714.2019.9071821

Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System

F. Hajiahmadi, P. Zarafshan, M. Dehghani, S. Ali A. Moosavian, S. R. Hassan-Beygi

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

10 Citations (Scopus)

Abstract

In this paper, modeling and control of a robotic carrier for the cleaning system of solar power plants is presented. Since solar panels are placed at 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 such cleaning robots between solar panel rows, an automated carrier mechanism is required. Hence, a robotic system for cleaner displacement is introduced, and its dynamic modeling and control are presented. To this end, the kinematic characteristics of the robot are introduced, and the dynamic model is derived based on the energy methods. For model validation, the robot is built and simulated in ADAMS, and the results are compared. Finally, the dynamic model is used to design a position controller. The controlled system is simulated using a MATLAB and ADAMS cosimulation. The results show that the derived model and the designed controller are precise and practical.

Original language	English
Title of host publication	ICRoM 2019 - 7th International Conference on Robotics and Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	613-618
Number of pages	6
ISBN (Electronic)	9781728166049
DOIs	https://doi.org/10.1109/ICRoM48714.2019.9071821
Publication status	Published - Nov 2019
Externally published	Yes
Event	7th International Conference on Robotics and Mechatronics, ICRoM 2019 - Tehran, Iran, Islamic Republic of Duration: 20 Nov 2019 → 21 Nov 2019

Publication series

Name	ICRoM 2019 - 7th International Conference on Robotics and Mechatronics

Conference

Conference	7th International Conference on Robotics and Mechatronics, ICRoM 2019
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	20/11/19 → 21/11/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

AGV
dynamic modeling
PID
simulation
solar panel cleaning robot

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ICRoM48714.2019.9071821

Cite this

Hajiahmadi, F., Zarafshan, P., Dehghani, M., Moosavian, S. A. A., & Hassan-Beygi, S. R. (2019). Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System. In ICRoM 2019 - 7th International Conference on Robotics and Mechatronics (pp. 613-618). Article 9071821 (ICRoM 2019 - 7th International Conference on Robotics and Mechatronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM48714.2019.9071821

@inproceedings{b2b06261d61144d4947daa811bff5386,

title = "Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System",

abstract = "In this paper, modeling and control of a robotic carrier for the cleaning system of solar power plants is presented. Since solar panels are placed at 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 such cleaning robots between solar panel rows, an automated carrier mechanism is required. Hence, a robotic system for cleaner displacement is introduced, and its dynamic modeling and control are presented. To this end, the kinematic characteristics of the robot are introduced, and the dynamic model is derived based on the energy methods. For model validation, the robot is built and simulated in ADAMS, and the results are compared. Finally, the dynamic model is used to design a position controller. The controlled system is simulated using a MATLAB and ADAMS cosimulation. The results show that the derived model and the designed controller are precise and practical.",

keywords = "AGV, dynamic modeling, PID, simulation, solar panel cleaning robot",

author = "F. Hajiahmadi and P. Zarafshan and M. Dehghani and Moosavian, {S. Ali A.} and Hassan-Beygi, {S. R.}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 7th International Conference on Robotics and Mechatronics, ICRoM 2019 ; Conference date: 20-11-2019 Through 21-11-2019",

year = "2019",

month = nov,

doi = "10.1109/ICRoM48714.2019.9071821",

language = "English",

series = "ICRoM 2019 - 7th International Conference on Robotics and Mechatronics",

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Hajiahmadi, F, Zarafshan, P, Dehghani, M, Moosavian, SAA & Hassan-Beygi, SR 2019, Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System. in ICRoM 2019 - 7th International Conference on Robotics and Mechatronics., 9071821, ICRoM 2019 - 7th International Conference on Robotics and Mechatronics, Institute of Electrical and Electronics Engineers Inc., pp. 613-618, 7th International Conference on Robotics and Mechatronics, ICRoM 2019, Tehran, Iran, Islamic Republic of, 20/11/19. https://doi.org/10.1109/ICRoM48714.2019.9071821

Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System. / Hajiahmadi, F.; Zarafshan, P.; Dehghani, M. et al.
ICRoM 2019 - 7th International Conference on Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2019. p. 613-618 9071821 (ICRoM 2019 - 7th International Conference on Robotics and Mechatronics).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

TY - GEN

T1 - Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System

AU - Hajiahmadi, F.

AU - Zarafshan, P.

AU - Dehghani, M.

AU - Moosavian, S. Ali A.

AU - Hassan-Beygi, S. R.

PY - 2019/11

Y1 - 2019/11

N2 - In this paper, modeling and control of a robotic carrier for the cleaning system of solar power plants is presented. Since solar panels are placed at 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 such cleaning robots between solar panel rows, an automated carrier mechanism is required. Hence, a robotic system for cleaner displacement is introduced, and its dynamic modeling and control are presented. To this end, the kinematic characteristics of the robot are introduced, and the dynamic model is derived based on the energy methods. For model validation, the robot is built and simulated in ADAMS, and the results are compared. Finally, the dynamic model is used to design a position controller. The controlled system is simulated using a MATLAB and ADAMS cosimulation. The results show that the derived model and the designed controller are precise and practical.

AB - In this paper, modeling and control of a robotic carrier for the cleaning system of solar power plants is presented. Since solar panels are placed at 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 such cleaning robots between solar panel rows, an automated carrier mechanism is required. Hence, a robotic system for cleaner displacement is introduced, and its dynamic modeling and control are presented. To this end, the kinematic characteristics of the robot are introduced, and the dynamic model is derived based on the energy methods. For model validation, the robot is built and simulated in ADAMS, and the results are compared. Finally, the dynamic model is used to design a position controller. The controlled system is simulated using a MATLAB and ADAMS cosimulation. The results show that the derived model and the designed controller are precise and practical.

KW - AGV

KW - dynamic modeling

KW - PID

KW - simulation

KW - solar panel cleaning robot

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M3 - Conference Paper

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T3 - ICRoM 2019 - 7th International Conference on Robotics and Mechatronics

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BT - ICRoM 2019 - 7th International Conference on Robotics and Mechatronics

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 7th International Conference on Robotics and Mechatronics, ICRoM 2019

Y2 - 20 November 2019 through 21 November 2019

ER -

Hajiahmadi F, Zarafshan P, Dehghani M, Moosavian SAA, Hassan-Beygi SR. Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System. In ICRoM 2019 - 7th International Conference on Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2019. p. 613-618. 9071821. (ICRoM 2019 - 7th International Conference on Robotics and Mechatronics). doi: 10.1109/ICRoM48714.2019.9071821

Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System

Abstract

Publication series

Conference

Bibliographical note

Keywords

UN SDGs

Access to Document

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