HANDLING REDUNDANCY IN RESOLVED MOTION CONTROL OF MOBILE HYDRAULIC MANIPULATORS

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

A Learning Paradigm for Motion Control of Mobile Manipulators

FOUDIL ABDESSEMED∗, ERIC MONACELLI∗∗, KHIER BENMAHAMMED∗∗∗ ∗ UNIVERSITE de Batna Institut d’Electronique, Rue Chahid Boukhlouf Batna – 05000, Algeria e-mail: [email protected] ∗∗ Laboratoire de Robotique de Paris 1–12 Avenue de l’Europe, 78140 Velizy-Paris, France e-mail: [email protected] ∗∗∗ Université de Setif, Institut d’Electronique Setif – 19000, Algeria e-mail: khierben@lyco...

Large Motion Control of Mobile Manipulators including Vehicle Suspension Characteristics

Conventional fixed-base controllers are shown not to perform well on mobile manipulators due to the dynamic interactions between a manipulator and its vehicle. An extended jacobian transpose control algorithm is developed to improve the performance of such manipulator systems. It is shown to perform well in the presence of modelling errors and the practical limitations imposed by the sensory in...

Fuzzy 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 ...

Motion Control of Robot Manipulators