Implementation of factitious force method for control of 5R manipulator with skid-steering platform REX

• Autorzy: Mazur A. , Cholewiński M.

Identyfikatory

DOI

10.1515/bpasts-2016-0009

• Języki publikacji: EN

Abstrakty

EN

In the paper implementation of the factitious force concept for a controlling complex mobile manipulator has been presented. As the nonholonomic constraint only lack of longitudinal slippage of wheels has been chosen - in skid-steering platforms lateral slippage is necessary to change orientation of such a platform. From a control theory point of view such a system is dynamically underactuated. As a solution to a underactuation problem a method of factitious force has been proposed. This method assumes extension on the dynamics level, in the form of an additional control inputs uv, which values are equal to zero equivalently. For a mobile manipulator, consisting of platform REX and 5R robotic onboard arm, a cascaded control law has been proposed. A simulation study was conducted for a mathematical model of a considered object with real values of physical parameters, i.e. lengths, masses, inertia moments etc. obtained from the 3D model. Results obtained in simulations have shown a proper action of the control system and convergence of tracking errors, occurring in a platform and in joints of a manipulator, to zero.

Słowa kluczowe

EN

underactuated system; nonholonomic constraint; kinematics; dynamics

PL

kinematyka; dynamika; ograniczenia nieholonomiczne

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2016
• Tom: Vol. 64, nr 1
• Strony: 71--80
• Opis fizyczny: Bibliogr. 16 poz., rys., wykr., tab.

Twórcy

autor

Mazur A.

• Chair of Cybernetics and Robotics, Faculty of Electronics, Wroclaw University of Science and Technology, 11/17 Janiszewskiego St., 50-372 Wroclaw, Poland

autor

Cholewiński M.

• Chair of Cybernetics and Robotics, Faculty of Electronics, Wroclaw University of Science and Technology, 11/17 Janiszewskiego St., 50-372 Wroclaw, Poland

Bibliografia

• [1] A. Mazur, “New approach to designing input-output decoupling controllers for mobile manipulators”, Bull. Pol. Ac.: Tech. 53 (1), 31-37 (2005).
• [2] L. Caracciolo, A. De Luca, and S. Iannitti, “Trajectory tracking control of a four-wheel differentially driven mobile robot”, Proc. IEEE Int. Conf. on Robotics and Automation 4, 2632-2638 (1999).
• [3] K. Kozłowski and D. Pazderski, “Modeling and control of a 4- wheel skid-steering mobile robot”, Int. J. Appl. Math. Comput. Sci. 14 (4), 477-496 (2004).
• [4] A. Mazur and M. Cholewiński, “Robust control of differentially driven mobile platforms”, Proc. 8th Workshop Robot Motion and Control RoMoCo 2011 1, 53-64 (2011).
• [5] D. Pazderski and K. Kozłowski, “Trajectory tracking of underactuated skid-steering robot”, Proc. American Control Conf. 4, 3506-3510 (2008).
• [6] E. Mohammadpour, M. Naraghi, and M. Gudarzi, “Posture stabilization of skid steer wheeled mobile robots”, Proc. IEEE Int. Conf. on Robotics, Automation and Mechatronics 1, 163-169 (2010).
• [7] E. Maalouf, M. Saad, and H. Saliah, “A higher level path tracking controller for a four-wheel differentially steered mobile robot”, Robotics and Autonomous Systems 1, 23-33 (2006).
• [8] A. Mazur and M. Cholewiński, “Virtual force concept in steering mobile manipulators with skid-steering platform moving in unknown environment”, J. Intell. Robot. Syst. 77, 433-443 (2015).
• [9] I. Motte and G. Campion, “A slow manifold approach for the control of mobile robots not satisfying the kinematic constraints”, IEEE Trans. Rob. Autom. 16 (6), 875-880 (2000).
• [10] K. Tchoń, A. Mazur, I. Dule，ba, R. Hossa, and R. Muszyński, Manipulators and Mobile Robots: Models, Motion Planning, Control, PLJ Publisher, Warsaw, 2000, (in Polish).
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• [12] C. Canudas de Wit, B. Siciliano, and G. Bastin, Theory of Robot Control, Springer, London, 1996.
• [13] I. Dule，ba, “Modeling and control of mobile manipulators”, Proc. 6th IFAC Symp. Robot Control 2000 SYROCO’00 1, 687-692 (2000).
• [14] M. Krstić, I. Kanellakopoulos, and P. Kokotović, Nonlinear and Adaptive Control Design, J. Wiley, New York, 1995.
• [15] U. Libal and J. Płaskonka, “Noise sensitivity of selected kinematic path following controllers for a unicycle”, Bull. Pol. Ac.: Tech. 62 (1), 3-13 (2014).
• [16] J.J. Slotine and W. Li, “Adaptive manipulator control: a case study”, IEEE Trans. Autom. Contr. 33 (11), 995-1003 (1988).

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.