Robust Control of Mobile Manipulator Service Robot Using Torque Compensation

Chi-wu, BU; Ke-fei, Xu

doi:10.1109/itcs.2009.152

Cited by 8 publications

(5 citation statements)

References 7 publications

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“…The controller gains presented in Table 3 were tuned empirically as in [8], [17], where it is indicated that each constant K v must be a 10% of the corresponding constant K p , in order to avoid abrupt and/or large changes of the control signal. The value of each constant K p is determined empirically according to the inertia coupled to each actuator.…”

Section: A Empirical Tuningmentioning

confidence: 99%

“…In [7], the authors propose a general framework for the control of a MM, but a decoupled modeling is used for approaching in a unified way the different types of omnidirectional mobile platforms under non-holonomic constraints. In [8], a robust control with torque compensation is proposed for a MM, using a coupled dynamic model which is modeled as an uncertainty. In [9], a Proportional-Derivative (PD) controller is presented for the problem of stabilizing a MM.…”

Section: Introductionmentioning

confidence: 99%

Tuning a PD+ Controller by Means of Dynamic Optimization in a Mobile Manipulator With Coupled Dynamics

et al. 2019

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This article presents the development of a dynamic optimization method for controller tuning. This is proposed because most traditional tuning methods for complex coupled dynamic models are based on experience, and thus lacking accuracy. The case study is a Mobile Manipulator that consists of an anthropomorphic manipulator and a differential mobile platform. The system model has a trajectory generator that includes the coupled kinematic model, the Jacobian model, the coupled dynamic model, and a Proportional-Derivative plus controller. The tuning of the model is obtained by solving an optimization problem, using the Differential Evolution algorithm. This optimization approach allows to minimize simultaneously the energy consumption and the error on the trajectory tracking by the end effector. A novel strategy is applied to formulate the objective function, including constant weights for balancing the minimization effect. The objective is to avoid an energy consumption equal to zero that represents an error condition of no motion. The results of the case study and its statistical analysis are presented. The best result was modeled in Solidworks R and simulated in Matlab R. This model was exported to Simscape Multibody TM of Matlab, and its simulation produced satisfactory results, suggesting that the proposed optimization method can be a useful tool to solve real engineering problems.

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“…El estudio de los robots manipuladores móviles (RMM) se ha vuelto de interés recientemente y ha captado la atención de los investigadores debido a las posibilidades en el ramo industrial (Zhou et al, 2022), en temas de seguridad (Saitoh et al, 1995), de servicios (Chi-wu and Ke-fei, 2009), en sistemas cooperativos (Sugar and Kumar, 1999) o incluso en algo tan cotidiano como abrir una puerta (Nagatani and Yuta, 1995).…”

Section: Introductionunclassified

“…Se han estudiado diversas técnicas de control para el seguimiento de trayectoria en este tipo de robots. Hay trabajos en los que se añade una compensación robusta tomando como base un controlador PD clásico (Chi-wu and Ke-fei, 2009), enfoques más sofisticados en donde se diseña un sistema de seguimiento adaptable basado en redes neuronales (Wang et al, 2014) o leyes de control basados en un esquema ADRC (Ningyue et al, 2015).…”

Section: Introductionunclassified

Control de un robot manipulador móvil de dos grados de libertad

Pérez-Fuentevilla

Morales-Díaz

Rodríguez-Ángeles

2022

ICBI

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En este trabajo se propone un controlador no lineal basado en un esquema de control por par calculado con compensación de gravedad que resuelve el problema de seguimiento de trayectoria a nivel de posición y velocidad de un robot manipulador móvil (RMM). El robot está conformado por un manipulador de 2 eslabones montado sobre un robot móvil diferencial tipo (2,0); se trabaja con una versión reducida del modelo tal que el móvil cumple con la restricción no holonómica. Se presentan condicionesque aseguran la estabilidad del sistema usando el método de Lyapunov. Se prueba estabilidad semiglobal, uniforme y últimamente acotada, y se logra encontrar la región de la cota última. Se usan distintas trayectorias paramétricas para las simulaciones numéricas; en cada caso, se presenta un mapeo del espacio alcanzable por el efector final y gráficas de desempeño. Los resultados muestran una convergencia efectiva en el seguimiento de trayectoria y se logran confirmar las propiedades de estabilidad obtenidas del análisis.

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“…Omreen et al (2003) used the Lagrangian dynamics to express the dynamic model of the complete system. A torque compensation control approach is proposed for the robust motion control of the robot by Chi-wu and Ke-fei (2009). They considered the coupling disturbance between the platform and the manipulator trajectory tracking curve of mobile platform.…”

Section: Introductionmentioning

confidence: 99%

Jerk Bounded Trajectory Planning For Non-Holonomic Mobile Manipulator

Ata¹,

Zawawi²,

Razek³

2013

ECMS 2013 Proceedings Edited By: Webjorn Rekdalsbakken, Robin T. Bye, Houxiang Zhang

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Mobile manipulator systems comprising of a mobile platform with one or more manipulators are of great interest in a number of applications. This paper presents a modeling of the system without violating the nonholonomic constraints of the platform. Trajectory planning by soft motion and seventh order polynomial to control jerk acceleration, and velocity, is also presented. The hub torque required to move the manipulator according to a prescribed trajectory and the platform motor torque are also calculated for each trajectory.

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Robust Control of Mobile Manipulator Service Robot Using Torque Compensation

Cited by 8 publications

References 7 publications

Tuning a PD+ Controller by Means of Dynamic Optimization in a Mobile Manipulator With Coupled Dynamics

Control de un robot manipulador móvil de dos grados de libertad

Jerk Bounded Trajectory Planning For Non-Holonomic Mobile Manipulator

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