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Integrated Task Planning and Control for Mobile Manipulators

Jindong Tan, Ning Xi, Yuechao Wang
2003 The international journal of robotics research  
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.  ...  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 dynamic model is formulated in operational space for task-orientated robot motion and force control. The dynamic bandwidth is considered to coordinate the robot arm and the mobile platform.  ... 
doi:10.1177/0278364903022005004 fatcat:7kb4bo7tq5cy7c4dpalaokic5u

Integrated Task Planning and Control for Mobile Manipulators

Jindong Tan, Ning Xi, Yuechao Wang
2003 The international journal of robotics research  
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.  ...  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 dynamic model is formulated in operational space for task-orientated robot motion and force control. The dynamic bandwidth is considered to coordinate the robot arm and the mobile platform.  ... 
doi:10.1177/027836403128965105 fatcat:5xkqz2duxbf25g7zh752ijzqrq

Near-Optimal Trajectory Planning of a Spherical Mobile Robot for Environment Exploration

Qiang Zhan, Yao Cai, Zengbo Liu
2008 2008 IEEE Conference on Robotics, Automation and Mechatronics  
Designed for environment exploration, a spherical mobile robot BHQ-2 was briefly introduced.  ...  Spherical mobile robot has the characteristics of compact structure and agile motion and is promising to be used in unmanned environment.  ...  CONCLUSION The paper briefly introduces a spherical mobile robot BHQ-2 designed for environment exploration and mainly discusses its control modeling and near-optimal nonholonomic motion planning.  ... 
doi:10.1109/ramech.2008.4681380 dblp:conf/ram/ZhanCL08 fatcat:tr3wz7hrtnfxdbcjviwf32ssxy

Design and Analysis of 5 DOF Wheeled Mobile Robot
English

Dhiraj D. Patil, Dr. S P. Shekhawat
2016 International Journal of Engineering Trends and Technoloy  
This dissertation work is aimed for research over the 5 DoF wheeled mobile robot application.  ...  A kinematics models which including direct kinematics, inverse kinematics, and differential kinematics for a wheeled mobile robot is established.  ...  Motion planning methods were studied for different types of mobile manipulator to execute multiple missions.  ... 
doi:10.14445/22315381/ijett-v32p265 fatcat:jfgt6yhhlzdlnampf7pnrsas54

Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots

Jong-Min Yang, Jong-Hwan Kim
1999 IEEE Transactions on Robotics and Automation  
Nonholonomic mobile robots have constraints imposed on the motion that are not integrable, i.e., the constraints cannot be written as time derivatives of some function of the generalized coordinates.  ...  The posture of a mobile robot is represented by polar coordinates and the dynamic equation of the robot is feedback-linearized by the computed-torque method.  ...  In this paper, we assume that the motion of passive wheel can be ignored in dynamics of the mobile robot.  ... 
doi:10.1109/70.768190 fatcat:mdm6qdn5sbcgxdxy4r4gkoqgru

Page 530 of Mathematical Reviews Vol. , Issue 99a [page]

1991 Mathematical Reviews  
The article pro- vides an excellent bibliography of recent advances in the field of nonholonomic motion planning for mobile robots. {For the entire collection see MR 98k:70012.}  ...  Finally, a variational method for finding an approximately optimal path for nonholonomic robots is outlined. Section 5 is devoted to nonholonomic path planning for small-time control- lable systems.  ... 

Stabilizing a Class of Switched Nonholonomic Mechanical Systems

Guangping He, Department of Mechanical and Electrical Engineering, North China University of Technology, Beijing, 100144, China, Xu Liang, Tingting Su, Can Huang, Lei Zhao, Quanliang Zhao
2020 International Journal of Robotics and Automation Technology  
singular problems of nonholonomic systems caused by the local coordinates can be overcome, and provides a flexible approach of optimal motion planning for mobile robotic systems.  ...  For variant robot systems with switched discontinuous dynamics, it is shown that the switching control approaches can be used to stabilize a class of switched heterogeneous nonholonomic systems.  ...  provide a dexterous way for optimal motion planning of mobile robot system such as obstacle avoidance.  ... 
doi:10.31875/2409-9694.2020.07.2 fatcat:ddj5kecjivg4bbfabkt457epti

Motion planning for mobile surgery assistant

Grzegorz Pajak, Iwona Pajak
2014 Acta of Bioengineering and Biomechanics  
The paper presents a method of motion planning for a mobile manipulator acting as a helper providing the necessary tools or a surgery assistant carrying out pre-planned procedures.  ...  The motion of the mobile manipulator is planned in order to maximise the manipulability measure, thus to avoid manipulator singularities.  ...  Desai and Kumar [3] have solved the motion planning problem for multiple mobile manipulators, taking their dynamics and obstacles in the workspace into consideration.  ... 
pmid:25088187 fatcat:xsdwgediajbrppeinqox66t5aa

A Wheeled Inverted Pendulum Learning Stable and Accurate Control from Demonstrations

Shaokun Jin, Yongsheng Ou
2019 Applied Sciences  
In order to enable robots to be more intelligent and flexible, one way is to let robots learn human control strategy from demonstrations.  ...  The learning model is able to map the robot position and pose to the wheel speeds, such that the robot regulated by the learned model can move in a desired trajectory and finally stop at a target position  ...  can still be kept on a nonholonomic mobile robot.  ... 
doi:10.3390/app9245279 fatcat:pm2u2rxrfbcmjkjaynjcnmycba

Developments in nonholonomic control problems

1995 IEEE Control Systems  
Harris McClamroch \r n this article, we provide a summary of recent developments I in control of nonholonomic systems.  ...  published m the areas of sensitwity and robustness, optimal control, digital feedback, estimation, and stochastic control He has worked on applications problems arising in flexible space structures, robotics  ...  [74] also contains a nice chapter on nonholonomic motion plan-They proposed a general motion planning algorithm for kinening.  ... 
doi:10.1109/37.476384 fatcat:3vufs7ujsjcbxo5yb23ylaltfm

Full-state tracking and internal dynamics of nonholonomic wheeled mobile robots

Danwei Wang, Guangyan Xu
2003 IEEE/ASME transactions on mechatronics  
In this paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control laws.  ...  Dynamics of such wheeled mobile robots are nonholonomic and pose challenging problems for control design and stability analysis.  ...  A car-like robot has the least mobility ( ) and the stability analysis for a car-like robot is one of the most challenging problems among the nonholonomic wheeled mobile robots.  ... 
doi:10.1109/tmech.2003.812832 fatcat:kjejc2ky4jap5m2yyk3wzcwpey

Full state tracking and internal dynamics of nonholonomic wheeled mobile robots

Danwei Wang, Guangyan Xu
2000 Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)  
In this paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control laws.  ...  Dynamics of such wheeled mobile robots are nonholonomic and pose challenging problems for control design and stability analysis.  ...  A car-like robot has the least mobility ( ) and the stability analysis for a car-like robot is one of the most challenging problems among the nonholonomic wheeled mobile robots.  ... 
doi:10.1109/acc.2000.879170 fatcat:q2ay2kpltjhudby5mwsfjctbhi

Planning of Collision-Free Trajectory for Mobile Manipulators

G. Pająk
2013 International Journal of Applied Mechanics and Engineering  
The motion of the mobile manipulator is planned in order to maximize the manipulability measure, thus to avoid manipulator singularities.  ...  A method of planning sub-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented.  ...  In the proposed solution the dynamic model of the mobile robot is derived from Lagrange's form of D'Alembert's principle.  ... 
doi:10.2478/ijame-2013-0028 fatcat:vkghdxl6djge7jrdubszj5rjh4

Sliding Mode Motion Control of Nonholonomic Mobile Robots

1999 IEEE Control Systems  
s nonholonomic mobile robots have constraints imposed on motions that are not integrable, i.e., the constraints cannot be written as time derivatives of some function of the generalized coordinates, advanced  ...  The state variables of the mobile robot are represented in polar coordinates, and the dynamic equation of the system is feedback-linearized by a computed-torque method.  ...  The approach was based on dynamic models of nonholonomic mobile robots.  ... 
doi:10.1109/37.753931 fatcat:jpjiycnlezhfvihavdhadiormy

Geometric motion planning and formation optimization for a fleet of nonholonomic wheeled mobile robots

R. Bhatt, Chin Pei Tang, V. Krovi
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
In this paper, we present a geometric method for motion planning for a fleet of differentially-driven wheeled mobile robots moving in formation, that explicitly takes in to account their nonholonomic constraints  ...  The relative position within the formation induces different motion plans each individual wheeled mobile robot (WMR).  ...  ACKNOWLEDGMENT We gratefully acknowledge the support from The Research Foundation of State University of New York and National Science Foundation CAREER Award (IIS-0347653) for this research effort.  ... 
doi:10.1109/robot.2004.1308759 dblp:conf/icra/BhattTK04 fatcat:sc7cjv75m5gefn2b5vtpdsqx3a
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