MANIPULATION OF A MOBILE MODULAR MANIPULATOR INTERACTING WITH THE ENVIRONMENT WITH THE ASSISTANCE OF TACTILE SENSING FEEDBACK

2011 ◽  
Vol 08 (04) ◽  
pp. 777-793 ◽  
Author(s):  
JINGGUO WANG ◽  
YANGMIN LI
Keyword(s):  
Control Method ◽  
Hybrid Control ◽  
Tactile Sensor ◽  
Dynamic Equations ◽  
Mobile Manipulator ◽  
Force Sensing ◽  
Tactile Sensing ◽  
End Effector ◽  
Feedback Information ◽  
Crucial Information

Since tactile sensing feedback can provide very useful and crucial information to the problems of contact, it can be widely applied in the control of the mobile manipulator in case of contacting with the complex or unknown environments. This paper presents a control method for a mobile modular manipulator (MMM) interacting with the environment, in which the feedback does not only include the force-sensing feedback but also the tactile sensing feedback. In order to detect the feedback information from the environment, a kind of tactile sensor is mounted at the tip of the end-effector of the MMM. The dynamic equations of the whole system are formulated and the hybrid control method is designed after several tactile sensing-assisted strategies are considered. A mobile manipulator is built up to make real experiments and the results validate the proposed methods.

STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuang Cheng ◽  
Hui Zhang ◽  
Hui Peng ◽  
Zhiqian Zhou ◽  
Bailiang Chen ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Stability Control ◽  
Mobile Manipulator ◽  
Active Disturbance Rejection Control ◽  
End Effector ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

Kinematics-based end-effector path control of a mobile manipulator system on an uneven terrain using a two-stage Support Vector Machine

Robotica ◽  
2019 ◽  
Vol 38 (8) ◽  
pp. 1415-1433 ◽  
Author(s):  
Hitesh Jangid ◽  
Subham Jain ◽  
Beteley Teka ◽  
Rekha Raja ◽  
Ashish Dutta
Keyword(s):  
Support Vector Machine ◽  
Control Method ◽  
Microsoft Kinect ◽  
Mobile Manipulator ◽  
Support Vector ◽  
Joint Probability Distribution ◽  
Total System ◽  
Two Stage ◽  
End Effector ◽  
Uneven Terrain

SUMMARYA mobile manipulator system (MMS) consists of a robotic arm mounted on a mobile platform that is used in rescue and relief, space exploration, warehouse automation, etc. As the total system has 14 Degrees of Freedom (DOF), it does not have a closed-form inverse kinematics (IK) solution. A learning-based method is proposed, which uses the forward kinematics data to learn the IK relation for motion of an MMS on a rough terrain, using a one-class support vector machine (SVM) framework. Once trained, the model estimates the joint probability distribution of the MMS configuration and end-effector position. This distribution is used to find the MMS configuration for a given desired end-effector path. Past research using a Kohonen Self organizing map (KSOM) neural network-based open-loop control method has shown that the MMS deviates from its desired path while moving on an uneven terrain due to unknown disturbances such as wheel slip, slide, and terrain deformation. Therefore, a new sequential two-stage SVM-based end-effector path-tracking control scheme is proposed to control the end-effector path. In this scheme, the error in the end-effector path is continuously tracked with the help of a Microsoft Kinect 2.0 (Microsoft Regional Sales, Singapore 119968) and is sent as a feedback to the controller. Once the error reaches a threshold value, the error correction step of the controller gets activated to correct the error until the desired accuracy is reached. The effectiveness of the proposed approach is proved through extensive simulations and experiments conducted on 3D terrain in which it is shown that the end effector can follow the desired path with an average experimental error of around 2 cm between the desired and final corrected path.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

Representation and tactile sensing of 3-D objects by a gripper finger

Robotica ◽  
1983 ◽  
Vol 1 (4) ◽  
pp. 217-222 ◽  
Author(s):  
Gen-Ichiro Kinoshita
Keyword(s):  
Tactile Sensor ◽  
Large Displacement ◽  
Tactile Sensing ◽  
Sensor Element ◽  
Maximum Displacement

SUMMARYThe tactile sensor is constructed as a part of the finger of a parallel jaw hand; it is of the size of a finger and allows for a large displacement of the sensor element in response to force. The structure of the tactile sensor incorporates 20 successively and closely aligned elements, which allow for a 2.5 mm maximum displacement for each element. In the described experiments we present the capabilities of the tactile sensor. The tactile sensor has the functions of: 1) discriminating the shape of the partial surface of an object; and 2) tracing by finger on the surface along the profile of an object.

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