Online fuzzy logic control for tipover avoidance of autonomous redundant mobile manipulators

Yangmin Li, Yugang Liu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

14 Citations (Scopus)

Abstract

A redundant mobile manipulator composed of a three-wheeled non-holonomic mobile platform and a AT-degrees of freedom (DOF) onboard manipulator is investigated in this paper. Redundancy for such a robot is exploited to avoid tipover via online adjusting self-motions. The dynamic model is established and a new tipover criterion is proposed considering inertia, gravity and acceleration. An online fuzzy logic (FL) self-motion planner and a robust adaptive controller are presented to prevent the robot from tipover without affecting the end-effector's motion tasks. Real experiments for a redundant mobile manipulator demonstrate that the proposed algorithm is effective.
Original languageEnglish
Pages (from-to)24-43
Number of pages20
JournalInternational Journal of Vehicle Autonomous Systems
Volume4
Issue number1
DOIs
Publication statusPublished - 1 Jan 2006
Externally publishedYes

Keywords

  • Adaptive control
  • Fuzzy logic
  • Mobile manipulator
  • Non-holonomic
  • Redundant robot
  • Robust control
  • Tipover avoidance

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Automotive Engineering
  • Electrical and Electronic Engineering

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