NDLI: Fuzzy logic self-motion planning and robust adaptive control for tip-over avoidance of redundant mobile modular manipulators

Content Provider	IEEE Xplore Digital Library
Author	Yangmin Li Yugang Liu
Copyright Year	2005
Description	Author affiliation: Fac. of Sci. & Technol., Macau Univ., Taipa (Yangmin Li; Yugang Liu)
Abstract	A redundant nonholonomic mobile modular manipulator composed of a 3-wheeled nonholonomic mobile platform and a N-degree of freedom (DOF) onboard modular manipulator is investigated in this paper. Redundancy of the atop manipulator is used to avoid tipping over of the entire robot through automatically adjusting self-motions in a realtime manner. On the basis of modular robot concept, a kind of integrated dynamic modeling method is proposed. A real-time fuzzy logic (FL) self-motion planner and a robust adaptive controller are presented to prevent the robot from overturn without affecting the end-effector specified tasks. A new sliding mode function is devised, which is not only continuous but also infinitely differentiable, then chattering caused by classical sign function can be eliminated effectively. The proposed algorithm does not need exact a priori dynamic parameters and has strong external disturbance suppression ability. Simulation results for a real robot moving on a slope demonstrate that the proposed controller is effective
Starting Page	1281
Ending Page	1286
File Size	249558
Page Count	6
File Format	PDF
ISBN	0780390474
DOI	10.1109/AIM.2005.1511187
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy logic Robust control Adaptive control Manipulator dynamics Sliding mode control Robots Programmable control Vehicle dynamics Robotics and automation Motion planning
Content Type	Text
Resource Type	Article

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