Dynamic modeling of nonholonomic wheeled mobile manipulators with elastic joints using recursive Gibbs–Appell formulation

Korayem, M. H.; Shafei, A. M.; Shafei, H. R.

doi:10.1016/j.scient.2012.05.001

Cited by 46 publications

(16 citation statements)

References 22 publications

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“…In addition, Tanner et al [13] presented a complete model for a mobile robotic manipulator by applying Kanes's equations. Exploiting the benefits of G-A formulation in deriving the governing equations of robotic systems coupled with holonomic and nonholonomic constraints, Korayem et al [14][15][16][17] developed an algorithm based on 3 × 3 rotation matrices to obtain the motion equations of serial chain robotic manipulators composed of rigid/ flexible links and mounted on a mobile platform. Vosoughi et al [18] used the G-A formulation to derive the equations of motion for snakelike robotic systems.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking of an uncertain wheeled mobile robotic manipulator with a hybrid control approach

Shafei

Bahrami

Talebi

2020

J Braz. Soc. Mech. Sci. Eng.

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In this paper, a novel hybrid control approach is used for trajectory-tracking control of wheeled mobile robotic manipulators (WMRMs) in the presence of model uncertainties and external disturbances. Due to the existence of nonholonomic constrains in wheeled mobile robots, the proposed controller should be able to tackle the challenge of underactuation in such systems. To attain this objective, the dynamic equations of motion for a WMRM are derived in closed form using the Gibbs-Appell (G-A) formulation, which is an efficient method for obtaining the dynamic motion equations of nonholonomic systems. Then, a novel control scheme is developed which is both optimal and robust and which enjoys updated gains under an adaptive law. In this regard, to benefit from the advantages of two distinct methods, a high-order sliding mode control (HOSMC) is employed as a robust controller with the aim of handling system uncertainties and a state-dependent Riccati equation (SDRE) is used as a nonlinear optimal controller. In order to systematically deal with system uncertainties and to avoid the manual calculation of the upper bound of uncertainties, the gain of HOSMC is updated via an adaptive law. The most important advantage of this novel approach over the existing methods is that not only is it robustly stable against external disturbances when controlling an uncertain nonlinear system but also optimal for a predefined quadratic cost function. Lyapunov stability theory is employed to verify the stability of the proposed controller. Finally, to demonstrate the superiority of this novel controller, computer simulation results for a WMRM are compared with those of an adaptive sliding mode controller. It can be observed that the proposed hybrid control approach is capable of optimizing control inputs while achieving stability for a WMRM in the presence of model uncertainties.

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Section: Introductionmentioning

confidence: 99%

Trajectory tracking of an uncertain wheeled mobile robotic manipulator with a hybrid control approach

Shafei

Bahrami

Talebi

2020

J Braz. Soc. Mech. Sci. Eng.

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“…They analyzed the head trajectory tracking motion in terms of manipulability. Studies that assume the lateral constraint are still conducted for more complex tasks [11,12], to propose novel modeling [13], and to develop a deeper mathematical understanding of a robot [14].…”

Section: Introductionmentioning

confidence: 99%

Manipulability analysis of a snake robot without lateral constraint for head position control

Ariizumi

Tanaka

2019

Asian Journal of Control

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Two dynamic manipulability criteria of a snake robot with sideways slipping are proposed with the application to head trajectory tracking control in mind. The singular posture, which is crucial in head tracking control, is characterized by the manipulability and examined for families of typical robot shapes. Differences in the singular postures from those of the robot with lateral constraints, which have not been clear in previous studies, are clarified in the analysis. In addition to the examination of local properties using the concept of manipulability, we discuss the effect of isotropic friction as a global property. It is well known that, at least empirically, a snake robot needs anisotropy in friction to move by serpentine locomotion if there are no objects for it to push around. From the point of view of integrability, we show one of the necessary conditions for uncontrollability is satisfied if the friction is isotropic.

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“…Accordingly, they are able to accomplish most common complicated tasks that require locomotion and manipulation capabilities [2] in large workspaces that may include many obstacles [3]. The high mobility of mobile manipulators and their dexterous manipulation abilities make this type of robots increasingly utilized in various fields, such as planetary exploration, urban search-and-rescue operations, mining, agriculture, military missions, and nuclear reactor maintenance and hazardous site clean-ups [4,5].…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant multi-agent control architecture for autonomous mobile manipulators: Simulation results

Hentout

Messous

Bouzouia

2015

Computers & Electrical Engineering

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Dynamic modeling of nonholonomic wheeled mobile manipulators with elastic joints using recursive Gibbs–Appell formulation

Cited by 46 publications

References 22 publications

Trajectory tracking of an uncertain wheeled mobile robotic manipulator with a hybrid control approach

Trajectory tracking of an uncertain wheeled mobile robotic manipulator with a hybrid control approach

Manipulability analysis of a snake robot without lateral constraint for head position control

Fault-tolerant multi-agent control architecture for autonomous mobile manipulators: Simulation results

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