Trajectory tracking control considering simultaneous motions of a modular manipulator and a mobile platform

Yangmin Li, Yugang Liu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)

Abstract

This paper proposes a new algorithm for simultaneous path following control of a nonholonomic mobile modular manipulator, which is composed of a 3-wheeled noholonomic mobile platform and a 4-degree of freedom (DOF) modular manipulator. By taking the mobile platform as a special module attached to the base of a modular manipulator, an integrated structure is formed and its dynamic modeling method is performed in consideration of the nonholonomic constraints of the mobile platform and the interactive motions between the mobile platform and the modular manipulator. A new control strategy, which mainly consists of a neural-network (NN) estimator and a robust fuzzy-logic controller (RFLC) is devised. This strategy does not rely on precise aprior knowledge of dynamic parameters and can suppress dynamic modeling errors and bounded external disturbances effectively. Simulation results for a real mobile modular manipulator demonstrate that the proposed controller is effective.
Original languageEnglish
Title of host publicationProc. of the ASME International Des. Eng. Tech. Conferences and Computers and Inf. in Engineering Conf. - DETC2005
Subtitle of host publicationASME/IEEE International Conference on Mechatronic and Embedded Systems Appl.
Pages159-168
Number of pages10
Volume4
Publication statusPublished - 1 Dec 2005
Externally publishedYes
EventDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Long Beach, CA, United States
Duration: 24 Sep 200528 Sep 2005

Conference

ConferenceDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Country/TerritoryUnited States
CityLong Beach, CA
Period24/09/0528/09/05

ASJC Scopus subject areas

  • Engineering(all)

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