Modelling and Control of a Mobile Manipulator for Trajectory Tracking

Varela-Aldás, José; Andaluz, Víctor H.; Chicaiza, Fernando A.

doi:10.1109/inciscos.2018.00018

Cited by 23 publications

(7 citation statements)

References 19 publications

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“…To handle the redundancy problem, Bayle et al 9,10 proposed a control scheme by the inverse kinematic model of mobile robots, where a nonholonomic base with a 2-DOF manipulator has been considered. A similar control concept was also studied by Varela-Aldás et al 11 Galicki presented a feedback control by solving the inverse kinematics problem for mobile manipulators, where the Frechet differential of a certain criterion function is used to solve the inverse problem. Later, he proposed a real-time trajectory generation algorithm of mobile manipulators to control the accurate positioning of the end-effector, where various terminal sliding modes are used to solve the kinematic redundancy.…”

Section: Introductionmentioning

confidence: 96%

Kinematic modeling and control of mobile robot for large-scale workpiece machining

Tao

Zhao

Yan

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part B:

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Safety and reliability are significant in the sense of robotic machining for large-scale workpieces. In this article, a control scheme is proposed to ensure the safe motion of the mobile robot. Screw theory is used to analyze the motion of the mobile robot. The mobile platform with Mecanum wheels can be considered as a mechanism with four driven screws in series. An auxiliary reference position of the mobile platform is calculated based on the kinematic model, and the motion of the mobile platform and robot arm can be decoupled to handle its redundant degrees of freedom. Constant speed control is investigated to reduce the interaction force between the robot and platform. Experiments are conducted on the mobile robotic machining task for a large-scale wind turbine blade. The mobile robot moves steadily and smoothly owing to the constant speed control with an auxiliary target.

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Section: Introductionmentioning

confidence: 96%

Kinematic modeling and control of mobile robot for large-scale workpiece machining

Tao

Zhao

Yan

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part B:

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show abstract

“…However, achieving high accuracy in those tasks remains a challenge for the researchers [1][2][3]. The MM can also be useful in many different applications, including garbage management, space exploration, and hazardous environments, due to its exceptional mobility, adaptability, and agility [4][5][6]. As the demand for those diverse applications increases, research efforts are concentrated on enhancing kinematics, dynamics, control strategies, stability, motion tracking, and the overall architecture of the MM [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Redundancy Resolution of a Mobile Manipulator Using Learning Based Algorithm

Tolossa,

Gupta,

Orlando

et al. 2024

Preprint

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A learning-based strategy for the trajectory tracking of redundant mobile manipulators (MM) was presented in this study. A five-degrees-of-freedom (DOF) manipulator is mounted on the differential drive (DD) mobile robot. The advantage of using a redundant system is to avoid joint limits, obstacles and singularities towards desired trajectory tracking. The proposed approach is based on Kohonen Self-Organizing Map (KSOM) enhanced a weighted least norm (WLN) matrix algorithm. This approach is the recommended neural network for inverse kinemat-ics solutions because of its stability, preserved topology, and capacity to optimize the joint space trajectory while producing a smooth minimal joint angle. A proposed method for redundancy resolution in MM has been simulated using MATLAB simulation code and the Gazebo real-time simulation pysical environment. The simulation results are evaluated with the joint limit method of redundancy resolution and other existing controllers for verification purpose. The conventional method of redundancy resolution is local optimum and infeasible for the end-effector motion in the entire workspace. The KSOM uses different steps of error correction that improve the system’s performance as well as ensure the global asymptotical stability of the system.

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“…Currently, due to the evolution of technology within the productive sector, all industries, and specifically manufacturing, face intense competition for scientific development and innovation [1][2][3][4]. To maintain high competitiveness in the market by offering its products and services [5].…”

Section: Introductionmentioning

confidence: 99%

Carwash Station Prototype with Automatic Payment Using Intelligent Control Systems

Buele

Quilumba

Ilvis

et al. 2021

Communications in Computer and Information Science

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The daily activities of human being can be improved with the use of technology. Therefore, in this work we propose the design of an imperative system of automatic payment to prevent contact between people, avoiding the transmission of viruses and bacteria. Thus, new appropriate and innovative tools are created and applied to business models for the industrial and service sectors. Using and integrating communication between visual programming platforms, telecommunications (messaging) and online payments, using a programmable automaton, an HMI and a Raspberry board. The results show a robust platform framed in electronic payment technology with high performance and very reliable that uses the MQTT protocol for communication. The results show a time of 2.07 s in data writing after sending the signal and 0.80 s of reading the PLC outputs to the monitoring page.

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Modelling and Control of a Mobile Manipulator for Trajectory Tracking

Cited by 23 publications

References 19 publications

Kinematic modeling and control of mobile robot for large-scale workpiece machining

Kinematic modeling and control of mobile robot for large-scale workpiece machining

Redundancy Resolution of a Mobile Manipulator Using Learning Based Algorithm

Carwash Station Prototype with Automatic Payment Using Intelligent Control Systems

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