New approach to designing input-output decoupling controllers for mobile manipulators

• Autorzy: Mazur A.
• Języki publikacji: EN

Abstrakty

EN

Main topic of the paper is a problem of designing the input-output decoupling controllers for nonholonomic mobile manipulators. We propose a selection of output functions in much more general form than in [1,2]. Regularity conditions guaranteeing the existence of the input-output decoupling control law are presented. Theoretical considerations are illustrated with simulations for mobile manipulator consisting of RTR robotic arm mounted atop of a unicycle which moves in 3D-space.

Słowa kluczowe

EN

nonholonomic constraint; mobile manipulator; input-output decoupling controller

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2005
• Tom: Vol. 53, nr 1
• Strony: 31--37
• Opis fizyczny: Bibliogr. 11 poz., 8 rys.

Twórcy

autor

Mazur A.

• Institute of Engineering Cybernetics, Wroclaw University of Technology, 11/17 Janiszewskiego St., 50-372 Wroclaw, Poland.,

Bibliografia

• [1] Y. Yamamoto and X. Yun, “Effect of the dynamic interaction on coordinated control of mobile manipulators”, IEEE Transactions on Robotics and Automation 12(5), 816–824 (1996).
• [2] Y. Yamamoto and X. Yun, “Coordinating locomotion and manipulation of a mobile manipulator”, IEEE Transactions on Automatic Control 39(6), 1326–1332 (1994).
• [3] A. Mazur, “Control algorithms for the kinematics and the dynamics of mobile manipulators: a comparative study”, Archives of Control Sciences 11(3), 223–245 (2001).
• [4] N.A.M. Hootsmans and S. Dubowsky, “Large motion control of mobile manipulators including vehicle suspension characteristics”, Proc. of IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, 1336–1341 (1991).
• [5] R. Colbaugh, “Adaptive stabilization of mobile manipulators”, Proc. of American Control Conf., Philadelphia, Pennsylvania, 1–5 (1998).
• [6] O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holberg and A. Casai, “Coordination and decentralized cooperation of mobile manipulators”, J. Robotic Systems 13(11), 755–764 (1996).
• [7] A. Mazur and B. Łukasik, “The modified input-output decoupling controller for nonholonomic mobile manipulators”, Proc. of the 10th IEEE Conf. MMAR’2004, Międzyzdroje, 979–984 (2004).
• [8] A. Mazur and B. Łukasik, “The input-output decoupling controller for nonholonomic mobile manipulators”, Proc. of the 4th Int. Workshop RoMoCo’04, Puszczykowo, 155–160 (2004).
• [9] C. Canudas de Wit, B. Siciliano and G. Bastin, Theory of Robot Control, London: Springer-Verlag, 1996.
• [10] I. Dul¸eba, “Modeling and control of mobile manipulators”, Proc. of the IFAC Symp. SYROCO’2000,Vienna, 687-692 (2000).
• [11] H. Nijmeijer and A.J. van der Schaft, Nonlinear Dynamical Control Systems, New York: Springer-Verlag, 1990.