Robust Control of Mobile Manipulator Service Robot Using Torque Compensation

2009 ◽  
Author(s):  
Bu Chi-wu ◽  
Xu Ke-fei
Keyword(s):  
Robust Control ◽  
Service Robot ◽  
Mobile Manipulator

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.

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.

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

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