Hostname: page-component-76fb5796d-skm99 Total loading time: 0 Render date: 2024-04-25T14:19:57.199Z Has data issue: false hasContentIssue false
  • English
  • Français

Task space control of mobile manipulators

Published online by Cambridge University Press:  22 March 2010

Mirosław Galicki
Mirosław Galicki*
Affiliation:
Faculty of Mechanical Engineering, University of Zielona Góra, Podgórna 50, 65–246 Zielona Góra, Poland Institute of Medical Statistics, Computer Science and Documentation, Friedrich Schiller University Jena, Jahnstrasse 3, D–07740 Jena, Germany
*
*Corresponding author. E-mail: miroslav.galicki@mti.uni-jena.de
Get access Rights & Permissions [Opens in a new window]

Summary

This study offers the solution of the end-effector trajectory tracking problem subject to state constraints, suitably transformed into control-dependent ones, for mobile manipulators. Based on the Lyapunov stability theory, a class of controllers fulfilling the above constraints and generating the mobile manipulator trajectory with (instantaneous) minimal energy, is proposed. The problem of manipulability enforcement is solved here based on an exterior penalty function approach which results in continuous mobile manipulator controls even near boundaries of state constraints. The numerical simulation results carried out for a mobile manipulator consisting of a non-holonomic unicycle and a holonomic manipulator of two revolute kinematic pairs, operating in a two-dimensional task space, illustrate the performance of the proposed controllers.

Keywords

Mobile manipulatorEnd-effector trajectory trackingLyapunov stability
Type
Article
Information
Robotica , Volume 29 , Issue 2 , March 2011 , pp. 221 - 232
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Brockett, R. W., “Asymptotic Stability and Feedback Stabilization,” Proceedings of Conference Differential Geometric Control Theory, Progress in Mathematics, Boston, MA, Birkhauser, vol. 27 (1983) pp. 181–208.Google Scholar
2.Bloch, A. M., Reyhanoglu, M. and McClamroch, N. H., “Control and stabilization of nonholonomic dynamic systems,” IEEE Trans. Automat. Control 37 (11), 1746–1757 (1992).CrossRefGoogle Scholar
3.Bayle, B., Fourquet, J.-Y. and Renaud, M., “Manipulability Analysis for Mobile Manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea (2001) pp. 1251–1256.Google Scholar
4.Bayle, B., Fourquet, J.-Y. and Renaud, M., “Manipulability of wheeled mobile manipulators: Application to motion generation,” Int. J. Robot. Res. 22 (7–8), 565–581 (2003).CrossRefGoogle Scholar
5.Seraji, H., “A unified approach to motion control of mobile manipulators,” Int. J. Robot. Res. 17 (2), 107–118 (1998).CrossRefGoogle Scholar
6.Tchon, K. and Jakubiak, J., “Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of jacobian inverse kinematics algorithms,” Int. J. Control 76 (14), 1387–1419 (2003).CrossRefGoogle Scholar
7.Galicki, M., “Inverse kinematics solution to mobile manipulators,” Int. J. Robot. Res. 22 (12), 1041–1064 (2003).CrossRefGoogle Scholar
8.Galicki, M., “Control-based solution to inverse kinematics for mobile manipulators using penalty functions,” J. Intell. Robot. Syst. 42, 213–238 (2005).CrossRefGoogle Scholar
9.Egersted, M. and Hu, X., “Coordinated Trajectory Following for Mobile Manipulation,” Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, USA (2000) pp. 3479–3484.Google Scholar
10.Fruchard, M., Morin, P. and Samson, C., “A framework for the control of nonholonomic mobile manipulators,” Int. J. Robot. Res. 25 (8), 745–780 (2006).CrossRefGoogle Scholar
11.Desai, J. P. and Kumar, V., “Nonholonomic Motion Planning for Multiple Mobile Manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, USA (1997) pp. 3409–3414.CrossRefGoogle Scholar
12.Mohri, A., Furuno, S., Iwamura, M. and Yamamoto, M., “Sub-optimal Planning of Mobile Manipulator,” Proceedings of the IEEE Conference on Robotics and Automation, Seoul, Korea (2001) pp. 1271–1276.Google Scholar
13.Huang, Q., Tanie, K. and Sugano, S., “Coordinated motion planning for a mobile manipulator considering stability and manipulation,” Int. J. Robot. Res. 19 (8), 732–742 (2000).CrossRefGoogle Scholar
14.Hootsmans, N. A. M. and Dubowsky, S., “Large Motion Control of Mobile Manipulators Including Vehicle Suspension Characteristics,” Proceedings of the IEEE Conference on Robotics and Automation (1991) pp. 2336–2341.Google Scholar
15.Liu, K. and Lewis, F. L., “Control of Mobile Robot With Onboard Manipulator,” Proceedings of the International Symposium on Robotics and Manufacturing, Cincinnati, USA (1992) pp. 539–546.Google Scholar
16.Yamamoto, Y. and Yun, X., “Coordinating locomotion and manipulation of a mobile manipulator,” IEEE Trans. Autom. Control 39 (6), 1326–1332 (1994).CrossRefGoogle Scholar
17.Yamamoto, Y. and Yun, X., “Effect of the dynamic interaction on coordinated control of mobile manipulators,” IEEE Trans. Robot. Autom. 12 (5), 816–824 (1996).CrossRefGoogle Scholar
18.Yamamoto, Y. and Yun, X., “Unified Analysis on Mobility and Manipulability of Mobile Manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, USA (1999) pp. 1200–1206.Google Scholar
19.Tzafestas, C. S. and Tzafestas, S. G., “Full-state modelling, motion planning and control of mobile manipulators,” Stud. Inform. Control 10 (2) 2001).Google Scholar
20.Chung, J. H., Velinsky, S. A. and Hess, R. A., “Interaction control of a redundant mobile manipulator,” Int. J. Robot. Res. 17 (12), 1302–1309 (1998).CrossRefGoogle Scholar
21.Chung, J. H. and Velinsky, S. A., “Robust interaction control of a mobile manipulator – dynamic model based coordination,” J. Intell. Robot. Syst. 26, 47–63 (1999).CrossRefGoogle Scholar
22.Mazur, A., “New Approach to the Control Problem of Mobile Manipulators,” Proceedings Third Workshop on Robot Motion and Control, Bukowy Dworek, Poland (2002) pp. 297–301.Google Scholar
23.Lin, S. and Goldenberg, A. A., “Robust damping control of mobile manipulators,” IEEE Trans. Syst. Man Cybern. 1–6 (2002).Google Scholar
24.Tan, J., Xi, N. and Wang, Y., “Integrated task planning and control for mobile robots,” Int. J. Robot. Res. 22 (5), 337–354 (2003).CrossRefGoogle Scholar
25.Mailah, M., Pitowarno, E. and Jamaluddin, H., “Robust motion control for mobile manipulator using resolved acceleration and proportional-integral active force control,” Int. J. Adv. Robot. Syst. 2 (2), 125–134 (2005).CrossRefGoogle Scholar
26.An, C. H., Atkenson, C. G. and Hollerbach, J. M., Model-Based Control of a Robot Manipulator (Mit Press, Cambridge, MA, 1988).Google Scholar
27.Renders, J. M., Rossignal, E., Becquet, M. and Hanus, R., “Kinematic calibration and geometrical parameter identification for robots,” IEEE RA 7 (6), 721–732 (1991).Google Scholar
28.Lewis, F. L., Abdallach, C. T. and Dawson, D. M., Control of Robotic Manipulators (Macmillan, New York, 1993).Google Scholar
29.Michalek, M., “VFO Control for Mobile Vehicles in the Presence of Skid Phenomenon,” In: Lecture Notes in Control and Information Sciences (Springer-Verlag London, 2007) pp. 57–66.Google Scholar
30.D'Andrea-Novel, B., Campion, G. and Bastin, G., “Control of wheeled mobile robots not satisfying ideal velocity constraints: A singular perturbation approach,” Int. J. Robust Nonlinear Control 5, 243–267, (1995).CrossRefGoogle Scholar
31.Boyden, F. D. and Velinsky, S. A., “Dynamic Modelling of Wheeled Mobile Robots for High Load Applications,” Proceedings of the IEEE International Conference on Robotics and Automation, Washington, USA (1994) pp. 3071–3078.Google Scholar
32.Krstic, M., Kanellakopoulos, I. and Kokotovic, P.xs, Nonlinear and Adaptive Control Design (J. Wiley and Sons, New York, 1995).Google Scholar