Showing 1-25 of 5,249 resultsfor "Index Terms":Mobile Manipulator
"Index Terms":Mobile Manipulator
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On the Robust Hybrid Motion/Force Control of Nonholonomic Mobile Manipulators Including Actuator Dynamics
2008 International Conference on Embedded Software and Systems Symposia
Year: 2008 | Conference Paper |
In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The controls are based on structural knowledge of the dynamics of the robot and the actuator dynamics is also taken into account. The proposed control is robust not only to structured uncertainty such as mas...Show More
Adaptive Force/Motion Control System Based on Recurrent Fuzzy Wavelet CMAC Neural Networks for Condenser Cleaning Crawler-Type Mobile Manipulator Robot
In this paper, an adaptive motion/force control system is proposed for condenser cleaning crawler-type mobile manipulator robot (CCCMMR). With the merits of recurrent fuzzy wavelet cerebellar model articulation control neural networks, the unknown dynamics and parameter variations of the CCCMMR control system are relaxed by an approximation process. In addition, an adaptive robust compensator is a...Show More
On the kinematics analysis and motion planning of the manipulator of a mobile robot
2011 Chinese Control and Decision Conference (CCDC)
Year: 2011 | Conference Paper |
Cited by: Papers (7)
Aiming at realizing the motion planning and use of manipulator mounted on a mobile robot, the kinematical properties of an non-redundant regional manipulator with less than six joints are investigated. In order to keep good manipulability of end-effector of the mobile manipulator, the end-effector pose and workspace analysis were studied. A method by using an inversion of a workspace formulation t...Show More
Aiming at the coupling problem of the mobile manipulator system, which makes the system fail to achieve mobile platform and manipulator cooperative motion tracking control, constructed a framework for the robot moving platform and the manipulator arm, it achieves trajectory tracking control respectively, a kind of control strategy based on Active Disturbance Rejection Control (ADRC) is proposed in...Show More
Optimal trajectory planning of a mobile robot with spatial manipulator for obstacle avoidance
ICCAS 2010
Year: 2010 | Conference Paper |
Mobile robots consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the existence...Show More
Aimed at the mobile manipulator of which with a 6-DOFs manipulator mounted on the platform, the self-restriction as well as the redundant problem of the whole system are analyzed systematically,, and the standard D-H method is used to establish the forward kinematics model of the manipulator. Doing by certain kind of targets, the self-restriction of the whole system is taken into account, we have ...Show More
Multi-agent remote control of the RobuTER/ULM mobile manipulator robot
2009 IEEE International Conference on Mechatronics
Year: 2009 | Conference Paper |
Cited by: Papers (6)
This paper finds its place in the combined area of multi-agent telerobotics. It describes the work carried out in the development of a multi-agent architecture for remote control of mobile manipulator robot. Decisions are made by the high-level layers of the multi-agent system, installed in the local site, and transmitted to the low-level layers, installed in the remote site, for execution. The im...Show More
Neural-Network-Based Control of Wheeled Mobile Manipulators With Unknown Kinematic Models
2020 International Symposium on Autonomous Systems (ISAS)
Year: 2020 | Conference Paper |
Cited by: Papers (5)
As we all known, tracking control is always a basic and important issue in robot industry. In the past, the method based on the pseudo-inverse of Jacobian matrix is a conventional solution which has two major limitations: one is the position error accumulation phenomenon; the other is the requirement for the model information of robots. Therefore, in this paper, we propose a neural-network-based c...Show More
Behaviour-based Architecture for Piloting Mobile Manipulator Robots
2007 IEEE International Symposium on Industrial Electronics
Year: 2007 | Conference Paper |
Cited by: Papers (2)
In this article, we present a generic hierarchical behaviour-based model architecture for piloting mobile manipulator robots. The proposed model architecture is based on three level hierarchical behaviours. Two behaviours are high- level, two others are of intermediate-level and finally one behaviour is low-level. The first two behaviours constitute the supervisor agent, which manages the global s...Show More
Robust Adaptive Control of Cooperating Mobile Manipulators With Relative Motion
Zhijun Li;Pey Yuen Tao;Shuzhi Sam Ge;Martin Adams;Wijerupage Sardha Wijesoma
In this paper, coupled dynamics are presented for two cooperating mobile robotic manipulators manipulating an object with relative motion in the presence of uncertainties and external disturbances. Centralized robust adaptive controls are introduced to guarantee the motion, and force trajectories of the constrained object converge to the desired manifolds with prescribed performance. The stability...Show More
A fuzzy logic based motion control for nonholonomic mobile manipulator robots
2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)
Year: 2014 | Conference Paper |
Cited by: Papers (2)
This paper presents a motion control strategy using a fuzzy knowledge based system to tracking control a wheeled mobile manipulator robot. Also the robot modeling is considered in this paper. The proposed control has been designed to track the desired trajectory in the presence of uncertainties. The control scheme consists of four parts; a model-based kinematic control, a fuzzy logic based dynamic...Show More
Unified Model and Robust Neural-Network Control of Omnidirectional Mobile Manipulators
Xiang-min Tan;Dongbin Zhao;Jianqiang Yi;Zeng-Guang Hou;Dong Xu
6th IEEE International Conference on Cognitive Informatics
Year: 2007 | Conference Paper |
Cited by: Papers (13)
As a typical holonomic mechanical system, the omnidirectional mobile manipulator, due to its large-scale mobility and dexterous manipulability, has attracted lots of attention in the last decades. While the omnidirectional mobile manipulator provides many advantages, modeling and control of such a system are very challenging because of its complicated mechanism. In this paper, a unified dynamic mo...Show More
Implementation of Sensors and Control Paradigm for a Hybrid Mobile Robot Manipulator for Search and Rescue Operations
2007 International Workshop on Robotic and Sensors Environments
Year: 2007 | Conference Paper |
Cited by: Papers (3)
This paper presents the control paradigm and embedded sensors for a mobile robot manipulator whereby the mobile platform and manipulator arm are designed as one entity to support both locomotion and manipulation simultaneously and interchangeably in several configuration modes. Along with the description of the novel design architecture, we developed, constructed and tested a novel paradigm for on...Show More
Tracking control of a mobile manipulator with fuzzy PD controller
2015 World Congress on Information Technology and Computer Applications (WCITCA)
Year: 2015 | Conference Paper |
Cited by: Papers (7)
In this paper, we suggest a fuzzy PD controller for a dynamic model of nonholonomic mobile manipulator in order to treat the trajectory tracking control and to eliminate the effect of external force on the end-effector. Firstly, the dynamic model of the mobile robot in motion space is detailed. Secondly, a fuzzy PD controller is conceived to adjust the parameters of the PD controller online depend...Show More
Safety assurance and performance of an unmanned mobile manipulator
2011 8th Asian Control Conference (ASCC)
Year: 2011 | Conference Paper |
In this paper, a discussion of the control of unmanned mobile manipulator in the occurrence of the contact force is presented. We focus on two kinds of contact: one is prohibited and another is planned. By employing a path design, the safety assurance and performance of an unmanned mobile manipulator can be achieved.Show More
Home service by a mobile manipulator system -System configuration and basic experiments-
Aiguo Ming;Zhaoxian Xie;Takuya Yoshida;Manabu Yamashiro;Chao Tang;Makoto Shimojo
2008 International Conference on Information and Automation
Year: 2008 | Conference Paper |
Cited by: Papers (4)
This paper describes a mobile manipulator system as a versatile platform for home service. Two key technologies are addressed in the paper. One is the efficient and easy recognition of environment about geometrical, physical and additional information by a sensor fusion system consisting of RFID, stereo camera and laser range sensor. The other is such geometrical, physical and additional informati...Show More
Trajectory generation for mobile manipulators using a learning method
2007 Mediterranean Conference on Control & Automation
Year: 2007 | Conference Paper |
Cited by: Papers (1)
In this paper, the generalized trajectory of a mobile manipulator is obtained. The objective is to allow the end-effector track a given trajectory in a fixed world frame. The motion of the platform and that of the manipulator are coordinated by a pseudo neural network designed from the kinematics model of the system. A learning paradigm is used to produce the required reference variables for each ...Show More
Time-dependant trajectory generation for tele-operated mobile manipulator
2015 3rd International Conference on Control, Engineering & Information Technology (CEIT)
Year: 2015 | Conference Paper |
Cited by: Papers (3)
Mobile manipulators are robots able to accomplish complicated missions, requiring the conjunction of the mobility and the manipulation. This paper is centred on the study of the movement of a single-armed wheeled vehicle. The mobile robot provides mobility to the robotic arm, and adds more degrees of freedom. Manipulation tasks might be, thus, performed in a large workspace. Human can often be rep...Show More
Holonomic platform and six DOF manipulator robot through virtual reality devices
Cristhian A. Cristancho;C Angelica Florez;Hernando Leon Rodriguez
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE
Year: 2011 | Conference Paper |
Cited by: Papers (1)
This paper describes the design and construction of a holonomic robot platform and a manipulator robot arm with 6 degree of freedom on top of the platform. The project explains how its work, made and control considering that the system uses several types of ways to be controlled. The robotic system is the mixture of three omni-wheels mobile platform to keep the robot stable and a modular 6 DOF art...Show More
Adaptive Robust Trajectory and Force Tracking Control of Constrained Mobile Manipulators
2007 International Conference on Mechatronics and Automation
Year: 2007 | Conference Paper |
Cited by: Papers (1)
This paper studies the simultaneous trajectory and force control problem of mobile manipulators subject to holonomic and nonholonomic constraints with uncertainties and external disturbances. The main feature of this paper is that 1) adaptive robust control strategies, which avoid complex regressor matrix, are presented based on a suitable reduced dynamic model, the defined references signals and ...Show More
Research on the method and experiment of the coordinated control for wheeled mobile manipulators
2008 IEEE International Conference on Automation and Logistics
Year: 2008 | Conference Paper |
Cited by: Papers (1)
Mobile manipulators have attracted a lot of interest recently. This paper discusses the development of mobile manipulators in recent years in the aspect of motion planning and coordinated control between mobile platform and manipulator. An intelligent controller based on RBF neural network is introduced for the coordinating control of the mobile manipulator, which mimics human behavior. Simulation...Show More
Stability control and trajectory tracking of two wheeled mobile manipulator
K.V. Shihabudheen;Nimmi George;K.A. Chinmaya;Jose Thankachan
In the field of robotics, the two wheel mobile manipulator has the potential to perform wide range of applications. Balancing of the system becomes a bothering task due to the highly unstable nature of the system. Nonlinear model of wheeled mobile manipulator is developed using Lagrange's equations by considering the dynamics of wheel and links. Control method for balancing the two wheeled mobile ...Show More
SHPN models based simulation and control of mobile robotic systems integrated into A/DML
Adrian Filipescu;Daniela Cernega;Adriana Filipescu;Razvan Solea;Eugenia Minca
2017 21st International Conference on System Theory, Control and Computing (ICSTCC)
Year: 2017 | Conference Paper |
Purpose of this paper is to model, simulate and control wheeled mobile robotic systems integrated into an assembly mechatronics line for making it reversible, i.e. have the capacity to deal disassembly using mobile platforms equipped with a manipulator. For this purpose, synchronised hybrid Petri nets (SHPN) models will be used to simulate and control an assembly/disassembly (A/D) mechatronics lin...Show More
Static path planning of tracked mobile manipulator and simulation
2011 International Conference on Mechatronic Science, Electric Engineering and Computer (MEC)
Year: 2011 | Conference Paper |
Cited by: Papers (3)
Path planning of the robot is searching the best motion path with some appropriate algorithm under some certain constraint condition. Path planning is the foundation of motion control of the robots. Based on the kinematic modeling and optimized configuration of tracked mobile manipulator with 5+1 degrees of freedom, translate path planning problem into optimization problem. Set certain initial con...Show More
Web-Based Control System of a Mobile Manipulator over Internet
2008 First International Conference on Intelligent Networks and Intelligent Systems
Year: 2008 | Conference Paper |
Cited by: Papers (1)
A Web-based remote control system of a mobile manipulator over Internet is studied. Due to the development of Internet technique and speed increase of transmission, the inexpensive convenient communication approach is provided for the remote control system. However, time delay on Internet is considered as a problem which affects the stability of teleoperation system. Therefore, based on the test a...Show More
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