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2012 | 22 | 3 | 601-616
Tytuł artykułu

Modelling and control of an omnidirectional mobile manipulator

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The vehicle is equipped with three driven axles with two spherical orthogonal wheels. Taking into account the dynamical interaction between the base and the manipulator, one can define the dynamics of the mobile manipulator and design a nonlinear controller using the input-state linearization method. The control structure of the robot is built in order to demonstrate the main capabilities regarding navigation and obstacle avoidance. Several simulations were conducted to prove the effectiveness of this approach.
Rocznik
Tom
22
Numer
3
Strony
601-616
Opis fizyczny
Daty
wydano
2012
otrzymano
2011-04-14
poprawiono
2011-10-13
poprawiono
2012-04-21
Twórcy
  • Department of Electronics, University of Batna, Rue Chahid Boukhlouf, Batna 05000, Algeria
  • ENSI de Bourges, PRISME, 10 Boulevard Lahitolle, 18020 Bourges cedex, France
  • ENSI de Bourges, PRISME, 10 Boulevard Lahitolle, 18020 Bourges cedex, France
  • Department of Electronics, University of Batna, Rue Chahid Boukhlouf, Batna 05000, Algeria
Bibliografia
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  • Abdessemed, F., Benmahammed, K. and Monacelli, E. (2004). A fuzzy-based reactive controller for a non-holonomic mobile robot, Journal of Robotics and Autonomous Systems 47(1): 31-46.
  • Abdessemed, F., Benmahammed, K. and Monacelli, E. (2006). A learning paradigm for motion control of mobile manipulators, International Journal of Applied Mathematics and Computer Science 16(4): 475-484.
  • Albers, A., Brudniok, S., Ottnad, J., Sauter, C. and Sedchaicharn, K. (2006). Upper body of a new humanoid robot: The design of ARMAR 3, 6th IEEE-RAS International Conference on Humanoid Robots, Genova, Italy, pp. 308-313.
  • Ambrose, R.O., Savely, R.T., Goza, S.M., Strawser, P., Diftler, M.A., Spain, I., Radford, N. and Martin, L. (2004). Mobile manipulation using NASA's Robonaut, Proceedings of the IEEE International Conference on Robotics and Automation, ICRA'2004, New Orleans, LA, USA, Vol. 2, 2104-2109.
  • Arai, T. and Ota, J. (1996). Motion planning of multiple mobile robots using virtual impedance, Journal of Robotics and Mechatronics 8(1): 67-74.
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  • Carelli, R., Secchi, H. and Mut, V. (1999). Algorithms for stable control of mobile robots with obstacle avoidance, Latin American Applied Research 29(3/4): 191-196.
  • Djebrani, S. and Abdessemed, F. (2009). Multi-agent prototyping for a cooperative carrying task, IEEE International Conference on Robotics and Biomimetics, ROBIO'2009, Guilin, Guangxi, China, pp. 1421-1426.
  • Djebrani, S., Benali, A. and Abdessemed, F. (2009). Forceposition control of a holonomic mobile manipulator, 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR'2009, Istanbul, Turkey, pp. 1023-1030.
  • Djebrani, S., Abdessemed, F. and Benali, A. (2010a). A multiagent strategy for a simple cooperative behavior, International Journal of Information Acquisition 7(4): 331-345.
  • Djebrani, S., Benali, A. and Poisson, G. (2010b). Input-state linearisation of an omni-directional mobile robot, IEEE International Symposion on Industrial Electronics, ISIE'2010, Bary, Italy, pp. 1889-1894.
  • Djebrani, S., Benali, A. and Abdessemed, F. (2011). Modelling and feedback control of an omni-directional mobile manipulator, IEEE Conference on Automation Science and Engineering, CASE'2011, Trieste, Italy, pp. 785-791.
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  • Konno, A., Nagashima, K., Furukawa, R., Nishiwaki, K., Noda, T., Inaba, M. and Inoue, H. (1997). Development of a humanoid robot Saika, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'97, Grenoble, France, pp. 805-810.
  • Kosuge, K., Sato, M. and Kazamura, N. (2000). Mobile robot helper, Proceedings of the IEEE International Conference on Robotics and Automation, ICRA'00, San Francisco, CA, USA, pp. 583-588.
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  • Mourioux, G., Novales, C., Poisson, G. and Vieyres, P. (2006). Omni-directional robot with spherical orthogonal wheels: Concepts and analyses, Proceedings of the IEEE International Conference on Robotics and Automation, ICRA'06, Orlando, FL, USA, pp. 3374-3379.
  • Pin, F.G. and Killough, S.M. (1994). A new family of omnidirectional and holonomic wheeled platforms for mobile robots, IEEE Transactions on Robotics and Automation 10(4): 480-489.
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Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv22z3p601bwm
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