Stability Control for Medical Rescue Robot in Unconstructed Environment

Peng, Hui; Wu, Meiping; Lu, Huimin; Xiao, Jing; Cheng, Chuang; Li, Jiehao

doi:10.1109/icarm49381.2020.9195272

Cited by 4 publications

(7 citation statements)

References 16 publications

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“…However, it was applied to the service robot whose work environment was flat ground. Furthermore, similar to the current research, Peng et al (2020c) provided a control framework to keep the fixed pose in pitch and roll orientation for the end effector of a mobile manipulator during the robot is driving on the unconstructed terrain. In the simulation environment, the KUKA youBot was regarded as the research plant.…”

Section: Introductionmentioning

confidence: 87%

“…It considered the flexible base of the surgical manipulator as a massspring-damping model of the double mass block. Besides, a six parallel structure wheel-legged robot was proposed in Li et al 2020a, 2021a, 2021band Peng et al 2019, 2020c, which can adjust the length of every leg to keep the platform interface horizontal stable in the rough terrain. Furthermore, a flexible joint was presented in Ma et al (2016).…”

Section: Introductionmentioning

confidence: 99%

“…Co-simulation results demonstrated that the method could achieve satisfactory performance, which can support tracked robots delivering resources reposefully in uneven terrain and provide theoretical and engineering guidance for other mobile manipulators. Our simulation terrain consists of more steep and continuous soil slopes, compared with the latest literature (Peng et al, 2020c), whose simulation terrain is relatively flat sand and stone ground. It means that the method is suitable for more complex terrain and with better robustness.…”

Section: Introductionmentioning

confidence: 99%

“…This is not mentioned in similar literature related to manipulator stability control. In addition, the stability control in the direction of yaw is added compared to Peng et al (2020c).…”

Section: Introductionmentioning

confidence: 99%

“…This paper combines the low-cost modeling method with the flexible and fast controller design pattern, which trades off the model-based control and the parameter tuningbased control method and provides a convenient and effective solution for the attitude control problem of the end effector with uncertain dynamic disturbance and unknown internal modeling uncertainty. This design pattern can achieve higher control precision and retains the convenience of the control framework transferring to other robots, compared to Peng et al (2020c), which design controller directly by tuning parameters without modeling for the specific problem.…”

Section: Introductionmentioning

confidence: 99%

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Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

Cheng

Zhang

Peng

et al. 2021

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Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

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Section: Introductionmentioning

confidence: 87%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…This is not mentioned in similar literature related to manipulator stability control. In addition, the stability control in the direction of yaw is added compared to Peng et al (2020c).…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations