Position-force control of mobile manipulator – nonadaptive and adaptive case

• Autorzy: Kaczmarek M. , Domski W. , Mazur A.

Identyfikatory

DOI

10.1515/acsc-2017-0029

• Języki publikacji: EN

Abstrakty

EN

This article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot’s arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot’s model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations.

Słowa kluczowe

EN

holonomic constraint; nonholonomic constraint; parametric uncertainty; adaptive control

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2017
• Tom: Vol. 27, no. 4
• Strony: 487--503
• Opis fizyczny: Bibliogr. 12 poz., wykr., wzory

Twórcy

autor

Kaczmarek M.

• Department of Cybernetics and Robotics, Wrocław University of Science and Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

autor

Domski W.

• Department of Cybernetics and Robotics, Wrocław University of Science and Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

autor

Mazur A.

• Department of Cybernetics and Robotics, Wrocław University of Science and Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

Bibliografia

• [1] G. Campion, G. Bastin and B. d’Andrea Novel: Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. IEEE Trans. on Robotics and Automation, 12(5), (1996).
• [2] C. Canudas de Wit, B. Siciliano and G. Bastin: Theory of Robot Control. Springer, London, 1996.
• [3] H. Früh, P. Keller and T. Perucchi: Intelligent Mobile Manipulators in Industrial Applications: Experiences and Challenges, pages 370-385. Springer, Berlin, 2007.
• [4] Z. Li, S. S. Ge and A. Ming: Adaptive robust motion/force control of holonomic-constrained nonholonomic mobile manipulators. IEEE Trans. on Systems, Man and Cybernetics - part B: Cybernetics, 37(3), (2007), 607-616.
• [5] A. Mazur: Model-based control for nonholonomic mobile manipulators. Printing House of Wrocław University of Technology, Wrocław, 2009, (in Polish).
• [6] A. Mazur, M. Kaczmarek and W. Domski: Position and force control of mobile manipulator, pages 257–262, (in Polish). Printing House of Warsaw University of Technology, Warsaw, 2015.
• [7] A. Mazur, M. Kaczmarek and W. Domski: Position-force control of nonholonomic mobile manipulator with simple holonomic constraint. In 10th Int. Workshop on Robot Motion and Control, Poznań, Poland, (2015), 257-262.
• [8] N. H. McClamroch and D. Wang: Feedback stabilization and tracking of constrained robots. IEEE Trans. on Automatic Control, 33(5), (1988), 419-426.
• [9] J. K. Mills and A. A. Goldenberg: Force and position control of manipulators during constrained motion tasks. IEEE Trans. on Robotics and Automation, 5(1), (1989), 30-46.
• [10] N. Sadegh and R. Horowitz: Stability and robustness analysis of a class of adaptive controllers for robotic manipulators. Int. J. of Robotics Research, 9(3), (1990), 74-94.
• [11] C. Su and Y. Stepanenko: Robust motion/force control of mechanical systems with classical nonholonomic constraints. IEEE Trans. on Automatic Control, 39(3), (1994), 609-614.
• [12] L. Villani and J. De Schutter: Force control. In B. Siciliano and O. Khatib, editors, Springer Handbook of Robotics, Springer, 2008, 161-185.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).