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Modeling and Finite-Time Tracking Control for mobile manipulators with Affine and Holonomic Constraints

Journal of Systems Science & Complexity 2016年第3期29卷 589-601页

作者： SUN Wei WU Yuqiang School of Mathematics Science Liaocheng University Institute of Automation Qufu Normal University

This paper focuses on the problem of modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints. A reduced dynamic model is obtained by appropriately processing anne and holonomic constraints, respectively. Then finite-time tracking controllers are designed to ensure that output tracking errors of closed-loop system converge to zero in finite time while the constraint force remains bounded. Finally, detailed simulation results are provided to confirm the effectiveness of the control strategy.

关键词： Affine constraints finite-time tracking holonomic constraints mobile manipulators

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Adaptive Tracking Control of mobile manipulators with Affine Constraints and Under-actuated Joints

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International Journal of Automation and computing 2018年第6期15卷 728-735页

作者： Wei Sun Wen-Xing Yuan Yu-Qiang Wu School of Mathematics Science Liaocheng University Liaocheng 252000 China Institute of Automation Qufu Normal University Qufu 273165 China

Adaptive motion/force tracking control is considered for a class of mobile manipulators with affine constraints and under-actuated joints in the presence of uncertainties in this paper. Dynamic equation of mobile manipulator is transformed into a controllable form based on dynamic coupling technique. In view of the asymptotic tracking idea and adaptive theory, adaptive controllers are proposed to achieve the desired control objective. Detailed simulation results confirm the validity of the control strategy.

关键词： Tracking control affine constraints mobile manipulators under-actuated joints dynamic coupling

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Base position planning of mobile manipulators for assembly tasks in construction environments

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Advances in Manufacturing 2023年第1期11卷 93-110页

作者： Dai-Jun Xie Ling-Dong Zeng Zhen Xu Shuai Guo Guo-Hua Cui Tao Song Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai200444People’s Republic of China National Demonstration Center for Experimental Engineering Training Education Shanghai UniversityShanghai200444People’s Republic of China School of Mechanical and Automotive Engineering Shanghai University of Engineering ScienceShanghai201620People’s Republic of China Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components Shanghai201620People’s Republic of China

With good mobility and flexibility,mobile manipulators have shown broad applications in construction *** position(BP)planning,which refers to the robot autonomously determining its working station in the environment,is an important technique for mobile manipulators when performing the construction assembly task,especially in a large-scale construction ***,the BP planning process is tedious and time-consuming for a human worker to carry ***,to improve the efficiency of construction assembly tasks,a novel BP planning method is proposed in this paper,which can lead to appropriate BPs and minimize the number of BPs at the same ***,the feasible BP regions are generated based on the grid division and the variable workspace of the mobile ***,the positioning uncertainties of the mobile manipulator are considered in calculating the preferred BP areas using ***,a set coverage optimization model is established to obtain the minimum number of BPs using an optimization algorithm according to the greedy *** simulated experiment based on a 9-degree of free(DoF)mobile manipulator has been *** results illustrated that the time for BP planning was significantly reduced and the number of BPs was reduced by 63.41%compared to existing manual planning,which demonstrated the effectiveness of the proposed method.

关键词： Base position(BP)planning mobile manipulators Variable workspace Positioning uncertainties Construction environments

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Path planning for Nonholonomic mobile manipulators grasping based on multi-objective constraint 36

Path planning for Nonholonomic mobile manipulators grasping ...

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第36届中国控制会议

作者： Shijun Wang Hao Guo Yibin Huang Aixue Ye Kui yuan University of Chinese Academy of Sciences Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781538629185

This paper presents a path planning algorithm for nonholonomic mobile manipulators multi-objective grasping that computes the mobile platform trajectory by maximizing the manipulability *** objective of the method is to find the best platform pose when the robot end-effector grasps object whose pose has been obtained by the visual system ***,we analyzed the distribution of operating performance of the manipulator inside its working space by manipulability ***,we calculated the best platform pose by maximizing the manipulability measures,meanwhile took multi-objective and nonholonomic constraints into ***,we controlled the mobile manipulators to approach the object by posture stabilization algorithm and picked it up by manipulator according to the result of inverse *** proposed method has been validated practicability and effectiveness by simulation examples and grasping experiment.

关键词： mobile manipulators path planning manipulability measure

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