Abstract

This paper presents a practical method for automatic tip-over prevention and path following control of a redundant nonholonomic mobile modular manipulator. According to modular robot concept, the mobile platform is treated as a special module attached to the base of the modular manipulator, then an integrated structure is constructed and its dynamic modeling is performed. A new tip-over stability criterion based on the supporting forces is proposed in consideration of inertia, gravity, and acceleration. An online fuzzy logic (FL) self-motion planner and an adaptive neural-fuzzy controller (ANFC) are presented: The former is used to generate desired self-motions in a real-time manner, and the latter is used to prevent the robot from tipping over and to control the end-effector to follow a desired spacial trajectory at the same time. The proposed algorithm does not need any a priori knowledge of dynamic parameters and can suppress bounded external disturbances effectively. Simulation results for a real robot validate the dynamic modeling method and the controller design algorithm.

Issue Section:
Technical Papers
Keywords:
position control, manipulator dynamics, redundant manipulators, mobile robots, stability, adaptive control, path planning, fuzzy neural nets, neurocontrollers, end effectors, control system synthesis, fuzzy control
Topics:
End effectors, Manipulators, Robots, Simulation results, Stability, Dynamic modeling, Control equipment, Trajectories (Physics), Design, Algorithms
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Copyright © 2006
 by American Society of Mechanical Engineers
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