Abstract
This paper discusses the trajectory-following issues for autonomous redundant non-holonomic mobile modular manipulators. An integrated dynamic modelling method is proposed. A Robust Adaptive Neural Fuzzy Controller (RANFC) is presented to control the end-effector to follow desired spacial trajectories. The proposed algorithm provides a new solution to stabilise redundant robotic self-motions. The RANFC does not need precise a priori dynamic parameters and can suppress bounded external disturbance. Furthermore, the RANFC does not need any off-line training phases and can incorporate human expert knowledge easily. Simulation results for a real mobile modular manipulator validate the proposed algorithm.
| Original language | English |
|---|---|
| Pages (from-to) | 268-284 |
| Number of pages | 17 |
| Journal | International Journal of Vehicle Autonomous Systems |
| Volume | 4 |
| Issue number | 2-4 |
| Publication status | Published - 1 Dec 2006 |
| Externally published | Yes |
Keywords
- Adaptive control
- Mobile manipulator
- Modular manipulator
- Non-holonomic
- Redundant robot
- Robust control
ASJC Scopus subject areas
- Control and Systems Engineering
- Automotive Engineering
- Electrical and Electronic Engineering