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A learning paradigm for motion control of mobile manipulators

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Abdessemed F., Monacelli E., Benmahammed K.
International Journal of Applied Mathematics and Computer Science
|
2006
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tom 16
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nr 4
475-484
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.
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Modelling and control of an omnidirectional mobile manipulator

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Djebrani S., Benali A., Abdessemed F.
International Journal of Applied Mathematics and Computer Science
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2012
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tom 22
|
nr 3
601-616
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.
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