Kinematic and dynamic model-based control of wheeled mobile manipulators: a unified framework for reactive approaches

Padois, Vincent; Fourquet, Jean-Yves; Chiron, Pascale

doi:10.1017/s0263574707003360

Cited by 51 publications

(48 citation statements)

References 26 publications

(43 reference statements)

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“…A common method is to transform inequality constraints into task objectives by applying artificial potential fields [20], from which repulsive forces are derived to prevent the robot from entering into activation zones of the inequality constraints [20,32,35,42,43,46]. However, performing these tasks cannot guarantee that these inequality constraints are actually met.…”

Section: Approaches For Handling a Strict Hierarchymentioning

confidence: 99%

Generalized hierarchical control

2015

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Multi-objective control systems for complex robots usually have to handle multiple prioritized tasks. Most existing hierarchical control techniques handle either strict task priorities by using null-space projectors or a sequence of quadratic programs; or non strict task priorities by using a weighting strategy. This paper proposes a novel approach to handle both strict and non-strict priorities of an arbitrary number of tasks. It can achieve multiple priority rearrangements simultaneously. A generalized projector, which makes it possible to completely project a task into the null-space of a set of tasks, while partially projecting it into the null-space of some other tasks, is developed. This projector can be used to perform priority transitions and task insertion or deletion. The control input is computed by solving one quadratic programming problem, where generalized projectors are adopted to maintain a task hierarchy, and equality or inequality constraints can be implemented. The effectiveness of this approach is demonstrated on a simulated robotic manipulator in a dynamic environment.

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Section: Approaches For Handling a Strict Hierarchymentioning

confidence: 99%

Generalized hierarchical control

2015

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“…4. Sendq to low level controller the constraints in step 3 is to scale the solution obtained at step 2 by the maximum velocity exceedance (as in [10]). Actually, this method can be applied in the cases of constraints set without acceleration.…”

Section: A Constraints Compliancementioning

confidence: 99%

Constraints Compliant Control: Constraints compatibility and the displaced configuration approach

Rubrecht

Padois

Bidaud

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Most of the literature reactive control laws have much difficulties to handle properly constraints such as joint limits, obstacles and saturations, including them as equalities in the Inverse Velocity Kinematics (IVK) problem. Actually, it seems relevant to handle them through inequalities, as the constraints are more numerous than the number of DOFs. However, the intuitive constraints expression can lead to incompatibilities between constraints, which necessarily induces constraints violations. This paper brings two distinct contributions. First, the usual constraints inequalities are modified to make them compatible permanently. Second, an intuitive and efficient constraint compliant control law is proposed.

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“…The second approach, considered in the works [16][17][18][19][20][21][22][23][24][25] is based on the application of the (generalized) pseudoinverse of the mobile manipulator Jacobian matrix in the control formulation. Control algorithms developed from the pseudo-inverse of the Jacobian matrix are attractive and further examined by many researchers, they also have some disadvantages.…”

Section: Introductionmentioning

confidence: 99%

Tracking the Kinematically Optimal Trajectories by Mobile Manipulators

Galicki

2018

J Intell Robot Syst

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This paper addresses the kinematically optimal control problem of the mobile manipulators. Dynamic equations of the mobile manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the mobile manipulator when tracking the trajectory by the end-effector. A computationally simple class of the Jacobian transpose control algorithms is proposed for the end-effector trajectory tracking. Such controllers apply a new non-singular Terminal Sliding Mode (TSM) manifold defined by a non-linear integral equality of the second order with respect to the task space tracking error. Based on the Lyapunov stability theory, the proposed Jacobian transpose control schemes are proved to be finite-time stable provided that some well-founded assumptions are fulfilled during the mobile manipulator movement. The performance of the proposed control strategies is illustrated through computer simulations for a mobile manipulator that attains trajectory tracking by the end-effector in a two-dimensional task space and simultaneously minimises some objective function.

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Kinematic and dynamic model-based control of wheeled mobile manipulators: a unified framework for reactive approaches

Cited by 51 publications

References 26 publications

Generalized hierarchical control

Generalized hierarchical control

Constraints Compliant Control: Constraints compatibility and the displaced configuration approach

Tracking the Kinematically Optimal Trajectories by Mobile Manipulators

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