Object Transportation Using Networked Mobile Manipulators without Force/Torque Sensors

Van Tam Ngo, Yen Chen Liu

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

1 Citation (Scopus)

Abstract

The use of multiple mobile manipulators (MMs) to perform collaborative object transportation is a promising solution for future industry. However, most existing control laws in this field require sensors to measure interactive force-torque between the transported object and the end-effectors of the robots, which is costly and increasing the system complexity. To overcome this problem, the present study considers the interactive force/torque to be unknown nonlinear functions and estimates them using a wavelet neural network (WNN). In particular, an adaptive-wavelet neural network control law is designed to guarantee trajectory tracking for each robot. Then an output synchronization algorithm is additionally used to coordinate the movement of the network MMs. Stability of the proposed control law is proven theoretically using Lyapunov theorem. Furthermore, the effectiveness of the control law is illustrated by simulations.

Original languageEnglish
Title of host publication2018 International Automatic Control Conference, CACS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538662786
DOIs
Publication statusPublished - 2019 Jan 9
Event2018 International Automatic Control Conference, CACS 2018 - Taoyuan, Taiwan
Duration: 2018 Nov 42018 Nov 7

Publication series

Name2018 International Automatic Control Conference, CACS 2018

Conference

Conference2018 International Automatic Control Conference, CACS 2018
CountryTaiwan
CityTaoyuan
Period18-11-0418-11-07

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Modelling and Simulation

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  • Cite this

    Ngo, V. T., & Liu, Y. C. (2019). Object Transportation Using Networked Mobile Manipulators without Force/Torque Sensors. In 2018 International Automatic Control Conference, CACS 2018 [8606770] (2018 International Automatic Control Conference, CACS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2018.8606770