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

Yangmin Li; Yugang Liu

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

Yangmin Li
, Yugang Liu

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-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 language	English
Title of host publication	Proc. of the ASME International Des. Eng. Tech. Conferences and Computers and Inf. in Engineering Conf. - DETC2005
Subtitle of host publication	ASME/IEEE International Conference on Mechatronic and Embedded Systems Appl.
Pages	159-168
Number of pages	10
Volume	4
Publication status	Published - 1 Dec 2005
Externally published	Yes
Event	DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Long Beach, CA, United States Duration: 24 Sept 2005 → 28 Sept 2005

Conference

Conference	DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Country/Territory	United States
City	Long Beach, CA
Period	24/09/05 → 28/09/05

ASJC Scopus subject areas

General Engineering

Cite this

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title = "Trajectory tracking control considering simultaneous motions of a modular manipulator and a mobile platform",

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.",

author = "Yangmin Li and Yugang Liu",

year = "2005",

month = dec,

day = "1",

language = "English",

isbn = "0791847411",

volume = "4",

pages = "159--168",

booktitle = "Proc. of the ASME International Des. Eng. Tech. Conferences and Computers and Inf. in Engineering Conf. - DETC2005",

note = "DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference ; Conference date: 24-09-2005 Through 28-09-2005",

}

Li, Y & Liu, Y 2005, Trajectory tracking control considering simultaneous motions of a modular manipulator and a mobile platform. in Proc. of the ASME International Des. Eng. Tech. Conferences and Computers and Inf. in Engineering Conf. - DETC2005: ASME/IEEE International Conference on Mechatronic and Embedded Systems Appl.. vol. 4, pp. 159-168, DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA, United States, 24/09/05.

Trajectory tracking control considering simultaneous motions of a modular manipulator and a mobile platform. / Li, Yangmin; Liu, Yugang.
Proc. of the ASME International Des. Eng. Tech. Conferences and Computers and Inf. in Engineering Conf. - DETC2005: ASME/IEEE International Conference on Mechatronic and Embedded Systems Appl.. Vol. 4 2005. p. 159-168.

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

TY - GEN

T1 - Trajectory tracking control considering simultaneous motions of a modular manipulator and a mobile platform

AU - Li, Yangmin

AU - Liu, Yugang

PY - 2005/12/1

Y1 - 2005/12/1

N2 - 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.

AB - 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.

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M3 - Conference article published in proceeding or book

SN - 0791847411

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SP - 159

EP - 168

BT - Proc. of the ASME International Des. Eng. Tech. Conferences and Computers and Inf. in Engineering Conf. - DETC2005

T2 - DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference

Y2 - 24 September 2005 through 28 September 2005

ER -

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

Abstract

Conference

ASJC Scopus subject areas

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