A new method of executing multiple auxiliary tasks by redundant nonholonomic mobile manipulators

Yugang Liu; Yangmin Li

doi:10.1109/IROS.2006.282540

A new method of executing multiple auxiliary tasks by redundant nonholonomic mobile manipulators

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

4 Citations (Scopus)

Abstract

This paper addresses the multiple tasks performing issues for redundant nonholonomic mobile manipulators. An extended gradient projection redundancy resolution scheme is proposed which can determine the directions of self-motion to perform multiple secondary tasks. This scheme is easy to use and can avoid algorithm singularities. A general dynamic modeling method is presented in consideration of nonholonomic constraints, interactive motions and self-motions. A real-time fuzzy logic self-motion planner is devised to create desired self-motion magnitudes and a robust adaptive neural-network controller is designed to accomplish multiple secondary tasks without affecting the primary one in the workspace. The effectiveness of the proposed algorithm is verified through simulations for a 3-DOF manipulator atop a 3-wheeled mobile platform system.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	1-6
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2006.282540
Publication status	Published - 1 Dec 2006
Externally published	Yes
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 9 Oct 2006 → 15 Oct 2006

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/Territory	China
City	Beijing
Period	9/10/06 → 15/10/06

ASJC Scopus subject areas

Control and Systems Engineering

More information

10.1109/IROS.2006.282540

Cite this

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title = "A new method of executing multiple auxiliary tasks by redundant nonholonomic mobile manipulators",

abstract = "This paper addresses the multiple tasks performing issues for redundant nonholonomic mobile manipulators. An extended gradient projection redundancy resolution scheme is proposed which can determine the directions of self-motion to perform multiple secondary tasks. This scheme is easy to use and can avoid algorithm singularities. A general dynamic modeling method is presented in consideration of nonholonomic constraints, interactive motions and self-motions. A real-time fuzzy logic self-motion planner is devised to create desired self-motion magnitudes and a robust adaptive neural-network controller is designed to accomplish multiple secondary tasks without affecting the primary one in the workspace. The effectiveness of the proposed algorithm is verified through simulations for a 3-DOF manipulator atop a 3-wheeled mobile platform system.",

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Liu, Y & Li, Y 2006, A new method of executing multiple auxiliary tasks by redundant nonholonomic mobile manipulators. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4058422, pp. 1-6, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 9/10/06. https://doi.org/10.1109/IROS.2006.282540

A new method of executing multiple auxiliary tasks by redundant nonholonomic mobile manipulators. / Liu, Yugang; Li, Yangmin.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 1-6 4058422.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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A new method of executing multiple auxiliary tasks by redundant nonholonomic mobile manipulators

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ASJC Scopus subject areas

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