Motion Planning and Control of Non-holonomic Mobile Manipulator Using Fuzzy Logic
ثبت نشده
چکیده
In this paper, a combined control of a mobile manipulator is studied, the platform is velocity controlled and the manipulator is torque controlled. Our objective is to develop a control method which generates the adequate articular torques and kinematics control to move the end-effector and the platform for executing the task efficiently without any collisions between the mobile manipulator (manipulator and platform) and static or dynamic obstacles. In this way, we consider that the platform has a slow and imprecise dynamic response, so we propose to use a fuzzy kinematics control; conversely the manipulator has a rapid and precise dynamic response, a fuzzy controller optimised by a genetic algorithm is proposed for this reason. The simulation results of the 2-links planar non-holonomic mobile manipulator are given to show the effectiveness of the proposed method.
منابع مشابه
Motion Control of non - Holonomic Mobile Manipulator using Fuzzy Logic
In this paper, a new methodology for motion control of mobile manipulator is presented. Motion control of mobile manipulator addresses the problem of trajectory tracking in autonomous mode witch allowing the endeffector and the plat-form to follow simultaneously desired trajectories without violating the non-holonomic constraints. Moving mobile manipulator systems presents many problems that ar...
متن کاملOptimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance
Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
متن کاملFuzzy Motion Control for Wheeled Mobile Robots in Real-Time
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...
متن کاملNon-Singular Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robots Using Fuzzy Based Tyre Force Estimator
This paper, proposes a methodology to implement a suitable nonsingular terminal sliding mode controller associated with the output feedback control to achieve a successful trajectory tracking of a non-holonomic wheeled mobile robot in presence of longitudinal and lateral slip accompanied. This implementation offers a relatively faster and high precision tracking performance. We investigate this...
متن کاملRegular Jacobian Motion Planning Algorithms for Mobile Manipulators
A mobile manipulator is defined as a robotic system composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The kinematics of the mobile manipulator, describing velocity constraints imposed on the platform and determining actual position and orientation of the end effector, are represented by a driftless control system with outputs. The motion planning prob...
متن کامل