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2006 | 16 | 4 | 475-484
Tytuł artykułu

A learning paradigm for motion control of mobile manipulators

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
Motion control of a mobile manipulator is discussed. The objective is to allow the end-effector to track a given trajectory in a fixed world frame. The motion of the platform and that of the manipulator are coordinated by a neural network which is a kind of graph designed from the kinematic model of the system. A learning paradigm is used to produce the required reference variables for each of the mobile platform and the robot manipulator for an overall coordinate behavior. Simulation results are presented to show the effectiveness of the proposed scheme.
Rocznik
Tom
16
Numer
4
Strony
475-484
Opis fizyczny
Daty
wydano
2006
otrzymano
2006-03-17
poprawiono
2006-09-29
Twórcy
  • UNIVERSITE de Batna, Institut d'Electronique,, Rue Chahid Boukhlouf Batna - 05000, Algeria
  • Laboratoire de Robotique de Paris, 1-12 Avenue de l'Europe, 78140 Velizy-Paris, France
  • Universite de Setif, Institut d'Electronique, Setif - 19000, Algeria
Bibliografia
  • Abdessemed F. (2004): Control and planning of a mobile manipulator. -Proc. 12-th Mediterranean Conf. Control and Automation, Kusadasi, Turkey.
  • Brock O. and Khatib O. (2000): Real time replanning in high-dimensional configuration spaces using sets of homotopic paths. - Proc. Int. Conf. Robotics and Automation, San Francisco, CA, USA, Vol. 1, pp. 550-555.
  • Brock O., Khatib O. and Viji S. (2002): Task-consistent obstacle avoidance and motion behavior for mobile manipulator. - Proc. IEEE Int. Conf. Robotics and Automation, Washington, DC, USA, pp. 388-393.
  • Chen M.W. and Zalzala A.M.S. (1997): Dynamic modeling and genetic-based trajectory generation for non-holonomic mobile manipulators. - Contr. Eng. Pract., Vol. 5, No. 1, pp. 39-48.
  • Dubowsky S. and Tanner A.B. (1988): A study of the dynamics and control of mobile manipulator subjected to vehicle disturbances. - Proc. 4-th Int. Symp. Robotics Research, pp. 111-117.
  • Fischer C., Buss M. and Shmidt G. (1996): Soft control of an effector path for a mobile manipulator. - Proc. Int. Conf. On robotics and Manufaturing - ISRASM,Montpellier, France, pp. 299-306.
  • Khatib O. (1993): Mobile robotic manipulation. - Proc. Symp. VDIVDE Soc. Measurement and Automation Intelligent Robot Control, Langen, Germany, pp. 51-66.
  • Khatib O., Yokoi K., Chang K., Ruspini D., Holmberg R. and Casal A. (1996): Vehiclearm coordination and multiple mobile manipulator decentralised cooperation. -Proc. Int. Conf. Intelligent Robots and Systems, IROS96, Osaka, Japan, pp. 546-553.
  • Lee J.K. and Cho H.S. (1997): Mobile manipulator motion planning for multiple tasks using global optimization approach. - J. Intell. Robot. Syst., Vol. 18, No. 2, pp. 169-190.
  • Levenberg K. (1944): A method for the solution of certain nonlinear problems in least squares. - Qty. Appl. Math., Vol. 2, No. 2, pp. 164-168.
  • Marquardt D.W. (1963): An algorithm for the estimation of non-linear parameters.- SIAM J. Contr., Vol. 11, No. 2, pp. 431-441.
  • Nagatani K. and Yuta S. (1996): Door-opening behavior of autonomous mobile manipulator by sequence of action primitives. - J. Robot. Syst.,Vol. 13, No. 11, pp. 709-721.
  • Nakamura Y. (1991): Advanced Robotics: Redundancy and Optimization.-New York: Addison-Wesley.
  • Nassal U.M. (1996): Motion coordination and reactive control of autonomous multi manipulators systems. - J. Robot. Syst., Vol. 13, No. 11, pp. 737-754.
  • Pin F.G., Morgansen K.A., Tulloch F.A., Hacker C.J. and Gower K.B.: (1996a): Motion planning for mobile manipulator with a non-holonomic constraints using the FSP (Full Space Parametrization) Method. - J. Robot. Syst., Vol. 13, No. 11, pp. 723-736.
  • Pin F.G., Morgansen K.A., Tulloch F.A., Hacker C.J. and Gower K.B. (1996b): Motion planning for mobile manipulator with non-holonomic constraint using the FSP method. -J. Robot. Syst., Vol. 13, No. 11, pp. 723-736.
  • Renaud M. and Dauchez P. (1999): Modelisation et commande des manipulateurs mobiles a roues. - Proc. Conf. Journees Nationales dela Recherche en Robotique (JNRR'99), Monpellier, France, pp. 179-192.
  • Rumelhart D.E, Hinton G.E. and Williams R.J. (1986): Learning internal representations by error propagation, In: Parallel Distributed Processing: Exploration in the Microstructure of Cognition, Vol. 1 (Rumelhart D.E. and McClelland J.L., Eds.). - Cambridge, MA: MIT Press Chap. 8, pp. 318-362.
  • Seraji H. (1995): Configuration control of rover-mounted manipulators. -Proc. IEEE Int. Conf. s Robotics and Automation, Nagoy, Japan, pp. 2261-2266.
  • Werbos P. (1974): Beyond Regression: New Tools for Prediction and Analysis in the Behavioral Sciences. - Ph.D. dissertation, Harvard Univ.
  • Yamamoto Y. and Yun X. (1994): Coordination locomotion and manipulation of a mobile manipulator. - IEEE Trans. Automat. Contr., Vol. 39, No. 6, pp. 1326-1332.
  • Zhao M., Ansari N. and Hou E. S. (1997): Mobile manipulator path planning by a genetic algorithm. - J. Robot. Syst., Vol. 11, No. 3, pp. 143-153.
Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv16i4p475bwm
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