Generating the controls for mobile manipulators subject to state constraints

• Autorzy: Galicki M.
• Języki publikacji: EN

Abstrakty

EN

This paper addresses the problem of position regulation at the control feed back level of a mobile manipulator. The task is subject to state equality and/or inequality constraints. Based on the Lyapunov stability theory, a class of asymptotically stable controllers fulfilling the above constraints and generating a singularity and collision free mobile manipulator trajectory, is proposed. The problem of singularity and collision avoidance enforcement is solved here based on an exterior penalty function approach which results in continuous and bounded mobile manipulator controls even near boundaries of obstacles. The numerical simulation results carried out for a mobile manipulator consisting of a nonholonomic unicycle and a holonomic manipulator of two revolute kinematic pairs, operating both in a two-dimensional unconstrained task space and task space including the obstacles, illustrate the performance of the proposed controllers.

Słowa kluczowe

EN

mobile manipulator; Lyapunov stability theory; singularity and collision-free control

PL

mobilny manipulator; teoria stabilności Lapunowa; bezkolizyjne sterowanie

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2011
• Tom: Vol. 16, no 4
• Strony: 989--1003
• Opis fizyczny: Bibliogr. 21 poz., wykr.

Twórcy

autor

Galicki M.

• Faculty of the Mechanical Engineering University of Zielona Góra ul. Prof. Z. Szafrana 4, 65-516, Zielona Góra, POLAND,

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