Motion Planning And Coordinated Control For Mobile Manipulators

2006 ◽  
Author(s):  
Chunyan Gao ◽  
Minglu Zhang ◽  
Lingyu Sun
Keyword(s):  
Motion Planning ◽  
Coordinated Control ◽  
Mobile Manipulators

scholarly journals Motion Planning and Coordinated Control of Underwater Vehicle-Manipulator Systems with Inertial Delay Control and Fuzzy Compensator

2020 ◽  
Vol 10 (11) ◽  
pp. 3944
Author(s):  
Han Han ◽  
Yanhui Wei ◽  
Xiufen Ye ◽  
Wenzhi Liu
Keyword(s):  
Motion Planning ◽  
Trajectory Tracking ◽  
Feedback Linearization ◽  
Nonlinear Function ◽  
Coordinated Control ◽  
Underwater Vehicle ◽  
Redundancy Resolution ◽  
Tracking Errors ◽  
Delay Control ◽  
Fuzzy Compensator

This paper presents new motion planning and robust coordinated control schemes for trajectory tracking of the underwater vehicle-manipulator system (UVMS) subjected to model uncertainties, time-varying external disturbances, payload and sensory noises. A redundancy resolution technique with a new secondary task and nonlinear function is proposed to generate trajectories for the vehicle and manipulator. In this way, the vehicle attitude and manipulator position are aligned in such a way that the interactive forces are reduced. To resist sensory measurement noises, an extended Kalman filter (EKF) is utilized to estimate the UVMS states. Using these estimates, a tracking controller based on feedback Linearization with both the joint-space and task-space tracking errors is proposed. Moreover, the inertial delay control (IDC) is incorporated in the proposed control scheme to estimate the lumped uncertainties and disturbances. In addition, a fuzzy compensator based on these estimates via IDC is introduced for reducing the undesired effects of perturbations. Trajectory tracking tasks on a five-degrees-of-freedom (5-DOF) underwater vehicle equipped with a 3-DOF manipulator are numerically simulated. The comparative results demonstrate the performance of the proposed controller in terms of tracking errors, energy consumption and robustness against uncertainties and disturbances.

Enhancing kinematic accuracy of redundant wheeled mobile manipulators via adaptive motion planning

Mechatronics ◽  
2021 ◽  
Vol 79 ◽  
pp. 102639
Author(s):  
Hongjun Xing ◽  
Ali Torabi ◽  
Liang Ding ◽  
Haibo Gao ◽  
Weihua Li ◽  
...  
Keyword(s):  
Motion Planning ◽  
Mobile Manipulators ◽  
Kinematic Accuracy ◽  
Adaptive Motion ◽  
Wheeled Mobile Manipulators

Optimal Base Placement and Motion Planning for Mobile Manipulators

2012 ◽  
Author(s):  
Bin Du ◽  
Jing Zhao ◽  
Chunyu Song
Keyword(s):  
Motion Planning ◽  
Great Influence ◽  
Initial Point ◽  
Mobile Manipulator ◽  
Target Point ◽  
Mobile Manipulators ◽  
Redundant Manipulator ◽  
Self Motion ◽  
The Given ◽  
Manipulation Capability

A mobile manipulator typically consists of a mobile platform and a robotic manipulator mounted on the platform. The base placement of the platform has a great influence on whether the manipulator can perform a given task. In view of the issue, a new approach to optimize the base placement for a specified task is proposed in this paper. Firstly, the workspace of a redundant manipulator is investigated. The manipulation capability of the redundant manipulator is maximized based on the manipulability index through the joint self-motion of the redundant manipulator. Then the maximum manipulation capability in the specified work point is determined. Next, the relative manipulability index (RMI) is defined for analyzing manipulation capability of the manipulator in its workspace, and the global manipulability map (GMM) is presented based on the above measure. Moreover, the optimal base placement related to the given task is obtained, and the motion planning is implemented by an improved rapidly-exploring random tree (RRT) algorithm with the RMI, which can enhance the manipulation capability from the initial point to the target point. Finally, the feasibility of the proposed algorithm is illustrated with numerical simulations and experiments on the mobile manipulator.

Self-protective motion planning for mobile manipulators in a dynamic door-closing workspace

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuande Liu ◽  
Bingtuan Gao ◽  
Chuang Yu ◽  
Adriana Tapus
Keyword(s):  
Motion Planning ◽  
Elbow Joint ◽  
Policy Decision ◽  
Work Conditions ◽  
Planning Problem ◽  
Mobile Manipulators ◽  
Content Type ◽  
Risk Levels ◽  
Door Opening ◽  
Markov Decision

Purpose Many work conditions require manipulators to open cabinet doors and then gain access to the desired workspace. However, after opening, the unlocked doors can easily close, interrupt a task and potentially break the operating end-effectors. This paper aims to address a manipulator's behavior planning problem for responding to a dynamic workspace released by door opening. Design/methodology/approach A dynamic model of the restricted workspace released by an unlocked door is established. As a whole system to treat, the interactions between the workspace and robot are analyzed by using a partially observable Markov decision process. A self-protective policy decision executed as a belief tree is proposed. To respond to the policy, this study has designed three types of actions: stay on guard in the workspace, using an elbow joint to defense the door and linear escape out of the workspace for self-protection by observing collision risk levels to trigger them. Finally, this study proposes self-protective motion controllers based on risk time optimization to act to the planned actions. Findings The elbow defense could balance robotic safety and work efficiency by interrupting the end-effector's work and using the elbow joint to prevent the door-closing in an active collision way. Compared with the stay and escape action, the advantage of the elbow defense is having a predictable performance to quick callback the interrupted work after the risk was relieved. Originality/value This work provides guidance for the safe operation of a class of robot operations and the upgrade of motion planning.

scholarly journals Motion planning and posture control of multiple n-link doubly nonholonomic manipulators

Robotica ◽  
2015 ◽  
Vol 35 (1) ◽  
pp. 1-25 ◽  
Author(s):  
Bibhya Sharma ◽  
Jito Vanualailai ◽  
Shonal Singh
Keyword(s):  
Motion Planning ◽  
Computer Simulations ◽  
Arbitrary Number ◽  
Posture Control ◽  
Mobile Manipulators ◽  
Moving Obstacles ◽  
The Past ◽  
Control Scheme ◽  
Lyapunov Control ◽  
Final Orientation

SUMMARYThe paper considers the problem of motion planning and posture control of multiple n-link doubly nonholonomic mobile manipulators in an obstacle-cluttered and bounded workspace. The workspace is constrained with the existence of an arbitrary number of fixed obstacles (disks, rods and curves), artificial obstacles and moving obstacles. The coordination of multiple n-link doubly nonholonomic mobile manipulators subjected to such constraints becomes therefore a challenging navigational and steering problem that few papers have considered in the past. Our approach to developing the controllers, which are novel decentralized nonlinear acceleration controllers, is based on a Lyapunov control scheme that is not only intuitively understandable but also allows simple but rigorous development of the controllers. Via the scheme, we showed that the avoidance of all types of obstacles was possible, that the manipulators could reach a neighborhood of their goal and that their final orientation approximated the desired orientation. Computer simulations illustrate these results.

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