Large motion control of mobile manipulators including vehicle suspension characteristics

Hootsmans, Norbert; Dubowsky, Steven

doi:10.1109/robot.1991.131751

Cited by 87 publications

(40 citation statements)

References 11 publications

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“…But most current work treats the system without considering dynamic interactions, and only copes with holonomic constraints, or just considers the kinematic interactions [13], [14]. Since our final aim is to do a high fidelity emulation, the previous simplifications are not acceptable to us at the dynamic modeling level.…”

Section: System Equations Of Motionmentioning

confidence: 99%

Modeling, Control and Simulation of a Novel Mobile Robotic System

Bai

Davis

Doebbler

et al. 2009

Lecture Notes in Electrical Engineering

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Abstract-We are developing an autonomous mobile robotic system to emulate six degree of freedom relative spacecraft motion during proximity operations. A mobile omni-directional base robot provides x, y, and yaw planar motion with moderate accuracy through six independently driven motors. With a six degree of freedom micro-positioning Stewart platform on top of the moving base, six degree of freedom spacecraft motion can be emulated with high accuracy. This paper presents our approach to dynamic modeling, control, and simulation for the overall system. Compared with other simulations that introduced significant simplifications, we believe that our rigorous modeling approach is crucial for the high fidelity hardware in-the-loop emulation.

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Section: System Equations Of Motionmentioning

confidence: 99%

Modeling, Control and Simulation of a Novel Mobile Robotic System

Bai

Davis

Doebbler

et al. 2009

Lecture Notes in Electrical Engineering

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show abstract

“…16 The TJ algorithm does not fail when a singularity occurs, 17 and can be applied to redundant manipulators. 18 An extended TJ control algorithm has been developed to improve the performance of mobile manipulator systems, 19 and also to coordinate motion control of spacecraft/manipulator systems. 20 2 Since both the end-effector position and interacting force cannot be controlled along a given direction, the idea of hybrid position/force algorithm has been suggested to control the end-effector position in some directions, and the contact forces in the other directions.…”

Section: Position Controlmentioning

confidence: 99%

Free-flying robots in space: an overview of dynamics modeling, planning and control

Moosavian¹,

Papadopoulos²

2007

Robotica

161

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SUMMARYFree-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed.

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“…Apparently, the algorithm can be applied to redundant manipulators as shown by [12], and it does not fail when a singularity occurs as discussed in [13]. Hootsmans and Dubowsky have developed an extended Jacobian transpose control algorithm to improve the performance of mobile manipulator systems, [14]. Subsequently, to fulfill simplicity requirements, Bevly et al in [15] have developed Simplified Cartesian Computed Torque (SCCT) Control algorithm for highly geared climbing robots.…”

Section: Introductionmentioning

confidence: 99%

Learning-based Modified Transpose Jacobian control of robotic manipulators

Karimi

Moosavian

2008

2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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The Modified Transpose Jacobian (MTJ) algorithm has been proposed, based on an approximated feedback linearization approach, in which there is no need to a priori knowledge of the plant dynamics. In this paper, a Learning-based Modified Transpose Jacobian (LMTJ) control algorithm is presented for trajectory tracking of robotic manipulators in an iterative operation mode. In this new control method, the MTJ control scheme is integrated into a learning procedure; as such, the trajectory tracking converges very fast and the bettering performance is achieved after a few iterations. Unlike conventional learning techniques, control gains selection in LMTJ is easily performed. The LMTJ method possesses both MTJ and learning capabilities with a simple control structure. Obtained results show the merits of the new proposed LMTJ controller that its performance is comparable to that of modelbased algorithms in terms of tracking error elimination, even in the presence of nonidentical initializations and un-repetitive disturbances.

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Large motion control of mobile manipulators including vehicle suspension characteristics

Cited by 87 publications

References 11 publications

Modeling, Control and Simulation of a Novel Mobile Robotic System

Modeling, Control and Simulation of a Novel Mobile Robotic System

Free-flying robots in space: an overview of dynamics modeling, planning and control

Learning-based Modified Transpose Jacobian control of robotic manipulators

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