MIMO fuzzy sliding mode controlled dual arm robot in load transportation

Hacioğlu, Yüksel; Arslan, Yunus Ziya; Yağiz, Nurkan

doi:10.1016/j.jfranklin.2011.05.009

Cited by 57 publications

(45 citation statements)

References 28 publications

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“…The methods of motion control for multiple cooperative robots have been first developed for multiple manipulators. These studies are further intensively developed especially in the case of coordinated manipulation tasks, such as bolt and nut mating [32] and transportation tasks [10,14]. Stationary manipulators have a limited workspace, thus they cannot be used to carry long objects over long distances.…”

Section: Related Workmentioning

confidence: 99%

“…6, and additional constrains (AC) introduced by dependencies (4), (5), (17), (18). The controls are determined from the dynamic model of the system (model) given by dependency (14). The main advantage of the proposed method is that, in contrast to other solutions, it generates trajectories ensuring fulfillment of both the state and control constraints.…”

Section: Problem Formulationmentioning

confidence: 99%

“…Substituting (43) and (48) into the dynamic model (14), controls of cooperating robots can be determined as:…”

Section: Control Constraintsmentioning

confidence: 99%

See 2 more Smart Citations

Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control Constraints

Pająk

2018

J Intell Robot Syst

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This paper deals with the real-time trajectory generation problem for two cooperating mobile robots moving the common rigid object. The holonomic constraints resulting from a closed kinematic chain and the dynamics of such a system are considered. Two methods of generation sub-optimal trajectories allowing for mechanical and control limitations and collision avoidance conditions are proposed. The first solution is based on a leader-follower approach, in the second one the robotic system is treated as a whole mechanism. In both cases, the trajectories are generated in order to avoid singularities and they are scaled to satisfy control constraints. Advantages and disadvantages of both presented approaches are discussed. A computer example involving two mobile manipulators consisting of nonholonomic platform (2,0) class and planar 3-DOF holonomic manipulator is presented.

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Section: Related Workmentioning

confidence: 99%

Section: Problem Formulationmentioning

confidence: 99%

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Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control Constraints

Pająk

2018

J Intell Robot Syst

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“…For humanoids, these studies include the effects in modelling and simulating a human or a humanoid [8], task and whole body motion coordination with active force control [9], a dynamics simulator for humanoid robots [10,11], dynamic balance force control for determining full body joint torques [12,13], sequential optimization for impact motions of humanoid robots [14], human-humanoid postures with external disturbances [15], centroidal dynamics of humanoids [16], humanoid complete dynamics [17], and decoupled dynamics for NASA-JSC Valkyrie [18]. For dual-arm robots, studies on their dynamics model include dynamics of a flexible dual-arm robot using Lagrange formulation [19], modular dynamics with inertias expressed at the joint-space level [20], dynamics of a dual-arm space robot [21,22], dynamics of a dual-arm robot for load transport under sliding mode control [23,24], dynamics with elasticity at the joints [25], and dynamics of rigid dual-arms carrying a flexible load [26].…”

Section: Introductionmentioning

confidence: 99%

Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

Jamisola

Kormushev

Roberts

et al. 2016

J Intell Robot Syst

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This paper presents modular dynamics for dual-arms, expressed in terms of the kinematics and dynamics of each of the stand-alone manipulators. The two arms are controlled as a single manipulator in the task space that is relative to the two end-effectors of the dualarm robot. A modular relative Jacobian, derived from a previous work, is used which is expressed in terms of the stand-alone manipulator Jacobians. The task space inertia is expressed in terms of the Jacobians and dynamics of each of the stand-alone manipulators. When manipulators are combined and controlled as a single manipulator, as in the case of dual-arms, our proposed approach will not require an entirely new dynamics model for the resulting combined manipulator. But one will use the existing Jacobians and dynamics model for each of the stand-alone manipulators to come up with the dynamics model of the combined manipulator. A dual-arm KUKA is used in the experimental implementation.

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“…In these applications, robot control has become a key challenging issue (Hacioglu et al, 2011;Hu et al, 2012;Spong et al, 2006). In regarding to the tracking error, it is only an ideal case to it to converge to zero.…”

Section: Introductionmentioning

confidence: 99%