Physical-limits-constrained minimum velocity norm coordinating scheme for wheeled mobile redundant manipulators

Zhang, Yunong; Li, Weibing; Zhang, Zhijun

doi:10.1017/s0263574714000757

Cited by 26 publications

(7 citation statements)

References 33 publications

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“…Considering the desired trajectory as a virtual servo constraint, an Udwadia-Kalaba-based adaptive robust control method is proposed for the trajectory tracking of an OMR in the presence of uncertainties [2]. The control of mobile robots with bounded torques is reported in [26], and control with velocity constraints is reported in [27,28]. In [12], a virtual-vehicle concept and an MPC strategy were combined to handle robot motion constraints and the path-following problems.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Sliding Mode Control of Omnidirectional Mobile Robots with Prescribed Performance

Huang

Chiu

2021

Processes

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Adaptive fuzzy sliding-mode control design for omnidirectional mobile robots with prescribed performance is presented in this work. First, an error transformation which transforms the constrained variable into an unconstrained one is carried out. Next, a fuzzy logic system (FLS) for approximating the unknown dynamics is constructed. Based on such a model, a nominal adaptive linearizing controller incorporating a serial-parallel model (SPM)-based composite algorithm, which improves the tracking performance of the overall closed-loop system, is synthesized. To solve the so-called “loss of controllability” problem, a smooth-switching algorithm is embedded which hands over the control authority to an auxiliary sliding-mode controller until the danger is safely bypassed. The proposed design ensures the semi-globally uniformly ultimately bounded stability of the closed-loop signals. Simulation works demonstrating the validity of the proposed design are presented in the final.

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Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Sliding Mode Control of Omnidirectional Mobile Robots with Prescribed Performance

Huang

Chiu

2021

Processes

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“…erefore, the development of a wireless environmental monitoring system that integrates environmental data collection, transmission, and display will greatly reduce the labor intensity of operators and improve the accuracy of environmental monitoring [18,19]. Now, traditional environmental monitoring technology has been widely used in the production of various industries in China, having developed into a relatively complete system [20]. Intelligent environmental monitoring technology, which can achieve centralized monitoring of multiple environmental factors, is also applied in some developed countries [21,22].…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of Wireless Environment Monitoring System Based on STM32

Liu

Sha

et al. 2021

Scientific Programming

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This paper first designed the overall scheme of a wireless-based intelligent environment monitoring system; this system is comprised of the following four parts: server part, client part, slave computer part, and master computer part. The master computer is equipped with a wireless transmission module and an LCD module. Slave computers are equipped with temperature-humidity sensing modules and wireless transmission modules. The server side has two major interfaces: data display and server establishment. An Android phone as the client can realize the communication between the mobile APP and server through network communication to obtain environmental data in real time. The hardware part of the system consists of wireless transmission module, temperature and humidity module, smoke module, lighting module, flame module, and LCD module. The software implementation part mainly includes the design and implementation of serial communication, the design and implementation of wireless communication, the design and implementation of collection of data acquisition in each sensor module, and the design and implementation of network communication as well as the design and implementation of display unit. With the cooperation of these four parts, we can automatically sense and control the state of the environment to realize human-computer interaction.

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“…Closed path when redundant manipulators have finished the given tasks is the basis of repetitive works especially in the operation process of redundant mobile manipulators. To achieve repetitive motion, a series of Zhang neural networks (ZNN) are proposed, which are formulated as quadratic problems subjected to equation and joint constraints [33][34][35]. As comparing to the traditional RNN neural methods, ZNN models have the ability of realize the repeatable motion for mobile manipulators as long as time is infinity.…”

Section: Introductionmentioning

confidence: 99%

A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application

et al. 2019

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For repeatable motion of redundant mobile manipulators, the flexible base platform and the redundant manipulator have to be returned to the desired initial position simultaneously after completing the given tasks. To remedy deviations between initial position and desired position of each kinematic joint angle, a special kind of repeatable optimization for kinematic energy minimization based on terminal-time Zhang neural network (TTZNN) with finite-time convergence is proposed for inverse kinematics of mobile manipulators. It takes the advantages that each joint of the manipulator is required to return to the desired initial position not considering the initial orientation of itself for realizing repeatable kinematics control. Unlike the existed training methods, such an optimization of kinematic energy scheme based on TTZNN can not only reduce the convergent position error of each joint to zero in finite time, but also improve the convergent precision. Theoretical analysis and verifications show that the proposed optimal kinematic energy scheme accelerates the convergent rate, which is tended to be applied in practical robot kinematics. Simulation results on the manipulator with three mobile wheels substantiate the timeliness and repetitiveness of the proposed optimization scheme.

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Physical-limits-constrained minimum velocity norm coordinating scheme for wheeled mobile redundant manipulators

Cited by 26 publications

References 33 publications

Adaptive Fuzzy Sliding Mode Control of Omnidirectional Mobile Robots with Prescribed Performance

Adaptive Fuzzy Sliding Mode Control of Omnidirectional Mobile Robots with Prescribed Performance

Design and Implementation of Wireless Environment Monitoring System Based on STM32

A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application

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