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Integrated task planning and control for mobile manipulators
Tan JD(谈金东); Xi N(席宁); Wang YC(王越超)
作者部门机器人学研究室
关键词Mobile Manipulation Coordination Force/position Control Manipulation Of Moving Objects With Nonholonomic Constraints
发表期刊International Journal of Robotics Research
ISSN0278-3649
2003
卷号22期号:5页码:337-354
收录类别SCI ; EI
EI收录号2003257508229
WOS记录号WOS:000183368900004
产权排序3
摘要In this paper we present an approach to decoupled force/position control of the end-effector along the same direction for redundant robots and an approach to nonholonomic cart pushing with mobile manipulators. The mobile manipulator is considered as a redundant robot, and a unified dynamic model for an integrated mobile platform and on-board manipulator is developed. The dynamic model is decoupled and linearized using the nonlinear feedback technique in a unified frame. Combining the event-based planning and control method with singularity analysis of the robot arm, a task level action controller is designed and an online kinematic redundancy resolution scheme is developed. The system is stable during normal operation as well as at the occurrence of unexpected obstacles. In addition, explicit force/position control along the same task direction for redundant robots is proposed. The kinematic redundancy of mobile manipulators enables independent control of force and position along the same task directions. To verify the decoupled force/position scheme, an integrated task planning and control approach is further proposed for the mobile manipulator to complete complicated tasks by regulating its output force. A cart pushing task, which requires. both force and position control along the same task direction, is discussed. The cart manipulation task fully integrates trajectory and force planning of the cart, and planning and control of the mobile manipulators. The approaches have been tested on a mobile manipulator consisting of a Nomadic XR4000 and a Puma 560 robot arm. The experimental results demonstrate the efficacy of the approach for the mobile manipulation of a nonholonomic cart.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Robotics
关键词[WOS]UNIFIED APPROACH ; MOTION CONTROL ; PATH-TRACKING ; FORCE CONTROL ; COORDINATION ; SYSTEMS ; ROBOTS
WOS研究方向Robotics
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/7369
专题机器人学研究室
作者单位1.Department of Electrical Engineering, Michigan Technological University, Houghton, MI 49931, United States
2.Department of Electrical Engineering, Michigan State University, East Lansing, MI 48824, United States
3.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
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GB/T 7714
Tan JD,Xi N,Wang YC. Integrated task planning and control for mobile manipulators[J]. International Journal of Robotics Research,2003,22(5):337-354.
APA Tan JD,Xi N,&Wang YC.(2003).Integrated task planning and control for mobile manipulators.International Journal of Robotics Research,22(5),337-354.
MLA Tan JD,et al."Integrated task planning and control for mobile manipulators".International Journal of Robotics Research 22.5(2003):337-354.
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