2019
DOI: 10.1109/access.2019.2936309
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Abstract: 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-D… Show more

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Cited by 12 publications
(9 citation statements)
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“…Electronics 2019, 8, x FOR PEER REVIEW 9 of 26 Remark 7: Considering that the configuration of the robotic system is redundant (7), the Jacobian matrix J ∈ R × has more unknowns than equations (m < n), with range r = n for each b ∈ R , then (7) represents a subdetermined linear system with general solution. = +…”
Section: Design Of the Control Lawmentioning
confidence: 99%
See 1 more Smart Citation
“…Electronics 2019, 8, x FOR PEER REVIEW 9 of 26 Remark 7: Considering that the configuration of the robotic system is redundant (7), the Jacobian matrix J ∈ R × has more unknowns than equations (m < n), with range r = n for each b ∈ R , then (7) represents a subdetermined linear system with general solution. = +…”
Section: Design Of the Control Lawmentioning
confidence: 99%
“…The proper design of a controller that will govern the actions of each of the robot's effectors can ensure optimal execution of the scheduled task. In this respect, Su, et al in [6] and Prada-Jimenez, et al in [7] propose different ways of controlling mobile manipulators considering their kinematic model as a single robot. In a different way, Hamner, et al in [8] works in the hybridization of locomotion and manipulation, joining a mobile platform and a manipulator in several modes of operation, but treating the mobile part and the arm as different robots.…”
Section: Introductionmentioning
confidence: 99%
“…In order to deal with the problems of fixed control gains, the adaptive tuning algorithms based on adaptive/optimal/soft-computing techniques are appropriate approaches. [11][12][13][14][15][16][17][18][19][20] In fact, the control gains in all controllers are one of the proportional (P) -integral (I) -derivative (D) parts of the traditional PID controller. Pan et al 11 recommended a simple method for adjusting the PID gains that were done offline based on the pole placement technique.…”
Section: Introductionmentioning
confidence: 99%
“…For the robotics control, the classical PID methods 37 is still a main part in any controllers and they have been applied widely in industrial applications due to its design simplicity and good performance, particularly in applications, in which the control system parameters are not well known. Thus, in order to overcome the drawbacks of classical PID methods, the researchers have continued to propose the intelligent control algorithms [38][39][40][41][42][43][44][45][46][47][48][49][50][51][52][53] based on PID technique for robotics control, recently. Wen and Jacob 41 solved the problems of big derivative and integral gains to assure asymptotic stability of control system by a neural PID algorithm.…”
Section: Introductionmentioning
confidence: 99%