Robust Compensation Control of Mobile Manipulator Service Robot

2009 ◽  
Author(s):  
Chi-wu Bu ◽  
Li-xun Zhang
Keyword(s):  
Service Robot ◽  
Mobile Manipulator ◽  
Compensation Control ◽  
Robust Compensation

scholarly journals Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Huangsheng Xie ◽  
Guodong Li ◽  
Yuexin Wang ◽  
Zhihe Fu ◽  
Fengyu Zhou
Keyword(s):  
Kinematic Model ◽  
Active Vision ◽  
Calibration Method ◽  
Inverse Kinematic ◽  
Service Robot ◽  
Mobile Manipulator ◽  
Visual Servo ◽  
Response Code ◽  
Quick Response Code ◽  
Manipulation System

This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response) Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

Balancing Control of a Mobile Manipulator with Two Wheels by an Acceleration-Based Disturbance Observer

2018 ◽  
Vol 15 (03) ◽  
pp. 1850005 ◽  
Author(s):  
Yeong-Geol Bae ◽  
Seul Jung
Keyword(s):  
Disturbance Observer ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Experimental Studies ◽  
Service Robot ◽  
Mobile Manipulator ◽  
Control Performance ◽  
Six Degrees Of Freedom ◽  
Inertia Model ◽  
Balancing Control

This paper presents the balancing control performance of a mobile manipulator built in the laboratory as a service robot called Korean robot worker (KOBOKER). The robot is designed and implemented with two wheels as a mobile base and two arms with six degrees-of-freedom each. Kinematics and dynamics of the robot are analyzed. For the balancing control performance, two wheels are controlled independently by the time-delayed control method based on the inertia model of the robot. The acceleration information obtained directly from the sensor is used for the modified disturbance observer structure called an acceleration-based disturbance observer (AbDOB). Experimental studies of the balancing control of the robot are conducted to compare the control performances by both a PID control method and an AbDOB.

Research on Moment Coupling and Compensation Control of Three-Axis Ship Motion Simulation Turntable

2009 ◽  
Vol 419-420 ◽  
pp. 625-628 ◽  
Author(s):  
Li Hua Liang ◽  
Dong Liang Cui ◽  
Song Tao Zhang ◽  
Dong Hai Cui
Keyword(s):  
Pid Control ◽  
Ship Motion ◽  
Decoupling Control ◽  
Motion Simulation ◽  
Velocity Feedback ◽  
Compensation Control ◽  
Compound Control ◽  
Dynamic Tracking ◽  
The Moment ◽  
Robust Compensation

With regard to the high precise three-axis ship motion simulation turntable, the precision is influenced by strong dynamics coupling, such as the moment coupling when three frames rotating at the same time. Therefore, the coupling problem of three-axis ship motion simulation turntable was analyzed profoundly. Then, on the basis of the analysis, in order to restrain the disturbance of coupling torque, the method of dynamic robust compensation based on decoupling control was given. Finally, the compound control strategy including PID control, velocity feedback, position feedback ,input signal differential feedforward and dynamic robust compensation was employed, and a electromechanical Co-simulation of three-axis turntable based on ADAMS and MATLAB was completed. The results of the Co-simulation prove that the method given in this paper can restrain coupling disturbance and improve dynamic tracking performance of three-axis simulation turntable

Towards multipurpose autonomous manipulation with the UJI service robot

Robotica ◽  
2007 ◽  
Vol 25 (2) ◽  
pp. 245-256 ◽  
Author(s):  
M. Prats ◽  
P. J. Sanz ◽  
A. P. del Pobil ◽  
E. Martínez ◽  
R. Marín
Keyword(s):  
Service Robot ◽  
Mobile Manipulator ◽  
Control Architecture ◽  
Perceptual State ◽  
Modular Control ◽  
Autonomous Manipulation ◽  
Daily Task ◽  
Great Step ◽  
The Way

SUMMARYThis paper presents a modular control architecture that enables a mobile manipulator to be compliant and perform manipulation tasks in partially known everyday human environments. An impedance velocity/force controller that allows the execution of a great variety of tasks under the Task Frame Formalism (TFF) is implemented.Tasks are represented as a net of basic abilities which are performed by the robot using the impedance controller. Mechanisms for switching between abilities according to the robot's perceptual state are defined.We show the validity of our approach on the UJI Service Robot, making it to perform a common daily task such as opening a door. Finally, we apply this framework to make progress on the new version of the UJI Librarian Robot, making a great step forward in the way the robot manipulates books.

Robustness Compensation Control of Simulation Loading System Based on Secondary Regulation

2012 ◽  
Vol 232 ◽  
pp. 419-423
Author(s):  
Jie Wang ◽  
Hui Wang ◽  
Zhuo Xu
Keyword(s):  
Pid Control ◽  
Control Performance ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Compensation Control ◽  
Loading System ◽  
Low Pass ◽  
System Robustness ◽  
And Control ◽  
Robust Compensation

This study investigated a mathematical model which was built for a simulation loading system based on secondary regulation. Because the loading system was complicated in structure and some other factors, the control performance was not ideal. Therefore, a dynamic robust compensating controller was designed for the system. The robust compensator could improve the control system by adding the return-to-zero factor and low pass filter on the basis of PID control. This study used MATLAB to simulate the general PID control and the robust compensation control. The results of simulation showed that when the equivalent rotary inertia and damping coefficient changed, the control performance decreased. When using the dynamic robust compensation control, the influences caused by parameter variations were reduced greatly, the system robustness and control accuracy are improved.

An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns

2021 ◽  
Vol 3 (5) ◽  
Author(s):  
Meysam Basiri ◽  
João Gonçalves ◽  
José Rosa ◽  
Alberto Vale ◽  
Pedro Lima
Keyword(s):  
Building Blocks ◽  
Service Robot ◽  
Mobile Manipulator ◽  
List Type ◽  
The Novel ◽  
Open Problems ◽  
Large Structures ◽  
Real World Application ◽  
Functional Complex ◽  
Construction Tasks

Abstract This paper describes the implementation of an autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns, finding applications in different industrial automation, manufacturing and civil construction scenarios. This system was developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020, to demonstrate the novel real-world application of constructing structures using teams of robots, showcasing once again the role of major scientific competitions in advancing the state of the art towards exploring solutions to open problems. The paper presents in detail the hardware and software architectures of the developed mobile manipulator, integrating different research results and developments into a functional complex robot system, while proposing methods to detect, approach and manipulate differently sized/colored bricks to build a wall of predefined pattern given to the robot just before the building task starts. Article Highlights Full system description of an autonomous mobile manipulator for construction tasks tested in a realistic setting Algorithms for detection, localization, picking and placement of heterogeneous building blocks to form large structures Versatile service robot capable of smooth adaptation to other functions developed through scientific robot competitions

Metamorphic Hand Based Grasp Constraint and Affordance

2015 ◽  
Author(s):  
Guowu Wei ◽  
Jie Sun ◽  
Xinsheng Zhang ◽  
Dirk Pensky ◽  
Justus Piater ◽  
...  
Keyword(s):  
Object Manipulation ◽  
Theoretical Background ◽  
Structure Design ◽  
Service Robot ◽  
Mobile Manipulator ◽  
Robotic Hand ◽  
Robot Arm ◽  
Hand Kinematics ◽  
Grasp Quality

This paper presents the kinematics and grasp constraint and affordance of a newly designed mobile manipulator with a three-fingered metamorphic robotic hand. Structure design of the mobile manipulator, which contains a Robotino 3.0, a customised robot arm and a three-fingered metamorphic hand, is presented. Using mechanism decomposition, kinematics of the manipulator is formulated based on product-of-exponentials method and kinematics of the metamorphic hand is investigated leading to the construction of grasp constraint providing theoretical background for measuring grasp quality of the grasps predicted by the grasp-affordance model. Further, relation of the grasp-affordance model to the manipulator and hand kinematics with the associated grasp constraint are indicated linking the manipulator kinematics with the grasp-affordance model for object manipulation. The mobile manipulator proposed in this paper is to be used for toys tidying up in a child’s room with extended applications to the field of service robot in clutter clearing.

Sign in / Sign up

Export Citation Format

Share Document