Command Generation of a High Degree of Freedom Robot Manipulator on a Moving Platform

Yu Chen Lin, Chao Chung Peng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

For general robot arm applications, the base of the manipulator is equipped on a fixed platform. However, the demand for high mobility robot control is increasing dramatically especially for intelligent factory automation. The robotics are usually equipped on certain moving platforms such as multi-axis motion stages or autonomous ground vehicles. Therefore, controlling of the end-effector (EE) position on a moving platform will be challenging. To realize such the high mobility control applications, it usually involves complicated kinematics computations. To deal with this issue, an innovative method is proposed to provide a general solution of joint space command generation. The EE position control is formulated as an optimization problem and an iterative algorithm is present for finding the local optimal solution. For a given target point and a pose of the moving platform, the sub-optimal joint angle command positions are generated. Comparing with the traditional method, such as inverse kinematics, the proposed algorithm avoids complex kinematics derivation. Finally, the developed method is further extended to higher degree of freedom (HDOF) robot manipulators to verify the feasibility for robot control on a moving platform.

Original languageEnglish
Title of host publicationProceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages512-517
Number of pages6
ISBN (Electronic)9781728134581
DOIs
Publication statusPublished - 2019 Nov
Event9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019 - Bangkok, Thailand
Duration: 2019 Nov 182019 Nov 20

Publication series

NameProceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019

Conference

Conference9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
CountryThailand
CityBangkok
Period19-11-1819-11-20

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

Fingerprint Dive into the research topics of 'Command Generation of a High Degree of Freedom Robot Manipulator on a Moving Platform'. Together they form a unique fingerprint.

  • Cite this

    Lin, Y. C., & Peng, C. C. (2019). Command Generation of a High Degree of Freedom Robot Manipulator on a Moving Platform. In Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019 (pp. 512-517). [9095787] (Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIS-RAM47153.2019.9095787