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 language | English |
|---|---|
| Pages (from-to) | 24-43 |
| Number of pages | 20 |
| Journal | International Journal of Vehicle Autonomous Systems |
| Volume | 4 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 1 Jan 2006 |
| Externally published | Yes |
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