A new task-consistent overturn prevention algorithm for redundant mobile modular manipulators

Yangmin Li; Yugang Liu

doi:10.1109/IROS.2005.1545201

A new task-consistent overturn prevention algorithm for redundant mobile modular manipulators

Yangmin Li
, Yugang Liu

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

8 Citations (Scopus)

Abstract

This paper presents a new algorithm for automatic overturn prevention and path following control of redundant nonholonomic mobile modular manipulators. According to modular robot concept, a new dynamic modeling method is proposed in consideration of interactive motions, nonholonomic constraints and self-motions. Then, an online self-motion planner (SMP) and a robust adaptive neural-fuzzy controller (RANFC) are devised; the former is used to generate desired self-motions in a real-time manner, while the latter is used to prevent the robot from overturning and to control the end-effector to follow a desired spacial trajectory at the same time. The proposed algorithm does not need exact apriori knowledge of dynamic parameters and can suppress bounded external disturbance effectively. Simulation results for a real robot demonstrate that the proposed algorithm is effective.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages	1563-1568
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2005.1545201
Publication status	Published - 1 Dec 2005
Externally published	Yes
Event	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada Duration: 2 Aug 2005 → 6 Aug 2005

Conference

Conference	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Country/Territory	Canada
City	Edmonton, AB
Period	2/08/05 → 6/08/05

Keywords

Dynamic modeling
Mobile modular manipulator
Neural-fuzzy control
Overturn prevention
Redundant robot

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

More information

10.1109/IROS.2005.1545201

Cite this

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title = "A new task-consistent overturn prevention algorithm for redundant mobile modular manipulators",

abstract = "This paper presents a new algorithm for automatic overturn prevention and path following control of redundant nonholonomic mobile modular manipulators. According to modular robot concept, a new dynamic modeling method is proposed in consideration of interactive motions, nonholonomic constraints and self-motions. Then, an online self-motion planner (SMP) and a robust adaptive neural-fuzzy controller (RANFC) are devised; the former is used to generate desired self-motions in a real-time manner, while the latter is used to prevent the robot from overturning and to control the end-effector to follow a desired spacial trajectory at the same time. The proposed algorithm does not need exact apriori knowledge of dynamic parameters and can suppress bounded external disturbance effectively. Simulation results for a real robot demonstrate that the proposed algorithm is effective.",

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Li, Y & Liu, Y 2005, A new task-consistent overturn prevention algorithm for redundant mobile modular manipulators. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545201, pp. 1563-1568, IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, AB, Canada, 2/08/05. https://doi.org/10.1109/IROS.2005.1545201

A new task-consistent overturn prevention algorithm for redundant mobile modular manipulators. / Li, Yangmin; Liu, Yugang.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 1563-1568 1545201.

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

TY - GEN

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AU - Liu, Yugang

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N2 - This paper presents a new algorithm for automatic overturn prevention and path following control of redundant nonholonomic mobile modular manipulators. According to modular robot concept, a new dynamic modeling method is proposed in consideration of interactive motions, nonholonomic constraints and self-motions. Then, an online self-motion planner (SMP) and a robust adaptive neural-fuzzy controller (RANFC) are devised; the former is used to generate desired self-motions in a real-time manner, while the latter is used to prevent the robot from overturning and to control the end-effector to follow a desired spacial trajectory at the same time. The proposed algorithm does not need exact apriori knowledge of dynamic parameters and can suppress bounded external disturbance effectively. Simulation results for a real robot demonstrate that the proposed algorithm is effective.

AB - This paper presents a new algorithm for automatic overturn prevention and path following control of redundant nonholonomic mobile modular manipulators. According to modular robot concept, a new dynamic modeling method is proposed in consideration of interactive motions, nonholonomic constraints and self-motions. Then, an online self-motion planner (SMP) and a robust adaptive neural-fuzzy controller (RANFC) are devised; the former is used to generate desired self-motions in a real-time manner, while the latter is used to prevent the robot from overturning and to control the end-effector to follow a desired spacial trajectory at the same time. The proposed algorithm does not need exact apriori knowledge of dynamic parameters and can suppress bounded external disturbance effectively. Simulation results for a real robot demonstrate that the proposed algorithm is effective.

KW - Dynamic modeling

KW - Mobile modular manipulator

KW - Neural-fuzzy control

KW - Overturn prevention

KW - Redundant robot

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BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

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Y2 - 2 August 2005 through 6 August 2005

ER -

A new task-consistent overturn prevention algorithm for redundant mobile modular manipulators

Abstract

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Keywords

ASJC Scopus subject areas

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