Cooperation and null-space control of networked omni-directional mobile manipulators

Michael John Chua, Yen Chen Liu

研究成果: Conference contribution


This paper presents cooperation and null-space control for networked mobile manipulators with high degrees of freedom (DOFs). First, kinematic model and Euler-Lagrange dynamic model of the mobile manipulator, which has an articulated robot arm mounted on a mobile base with omni-directional wheels, have been presented. Then, the dynamic decoupling has been considered so that the task-space and the null-space can be controlled separately to accomplish different missions. The motion of the end-effector is controlled in the task-space, and the force control is implemented to make sure the cooperation of the mobile manipulators, as well as the transportation tasks. Also, the null-space control for the manipulator has been combined into the decoupling control. For the mobile base, it is controlled in the null-space to track the velocity of the end-effector, avoid other agents, avoid the obstacles, and move in a defined range based on the length of the manipulator without affecting the main task. Numerical simulations have been addressed to demonstrate the proposed methods.

主出版物標題Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions
發行者American Society of Mechanical Engineers
出版狀態Published - 2020
事件ASME 2020 Dynamic Systems and Control Conference, DSCC 2020 - Virtual, Online
持續時間: 2020 十月 52020 十月 7


名字ASME 2020 Dynamic Systems and Control Conference, DSCC 2020


ConferenceASME 2020 Dynamic Systems and Control Conference, DSCC 2020
城市Virtual, Online

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 能源工程與電力技術
  • 航空工程
  • 汽車工程
  • 生物醫學工程
  • 控制與系統工程
  • 機械工業
  • 控制和優化


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