Online fuzzy logic control for tipover avoidance of autonomous redundant mobile manipulators
نویسندگان
چکیده
Abstract: A redundant mobile manipulator composed of a 3-wheeled nonholonomic mobile platform and a N-degrees of freedom (DOF) onboard manipulator is investigated in this paper. Redundancy for such a robot is exploited to avoid tipover via online adjusting self-motions. The dynamic model is established and a new tipover criterion is proposed considering inertia, gravity and acceleration. An online fuzzy logic (FL) self-motion planner and a robust adaptive controller are presented to prevent the robot from tipover without affecting the end-effector’s motion tasks. Real experiments for a redundant mobile manipulator demonstrate that the proposed algorithm is effective.
منابع مشابه
Neural-network-based observer for real-time tipover estimation
Tipover issue is an important problem in autonomous mobile manipulators. This issue is becoming more important in new generation of mobile robots where their size and weight are reduced, and they are designed to work on uneven terrains with higher speeds. Estimating the distance from the tipover stability margin would enhance the capability of the mobile manipulators in correcting their motion....
متن کاملTipover Stability Enhancement of Wheeled Mobile Manipulators Using an Adaptive Neuro- Fuzzy Inference Controller System
In this paper an algorithm based on the adaptive neuro-fuzzy controller is provided to enhance the tipover stability of mobile manipulators when they are subjected to predefined trajectories for the end-effector and the vehicle. The controller creates proper configurations for the manipulator to prevent the robot from being overturned. The optimal configuration and thus the most favorable contr...
متن کاملRobust adaptive neural fuzzy control for autonomous redundant non-holonomic mobile modular manipulators
Abstract: This paper discusses the trajectory-following issues for autonomous redundant non-holonomic mobile modular manipulators. An integrated dynamic modelling method is proposed. A Robust Adaptive Neural Fuzzy Controller (RANFC) is presented to control the end-effector to follow desired spacial trajectories. The proposed algorithm provides a new solution to stabilise redundant robotic self-...
متن کاملFuzzy improved adaptive neuro-NMPC for online path tracking and obstacle avoidance of redundant robotic manipulators
This paper presents a Nonlinear Model Predictive Control (NMPC) for redundant robotic manipulators. Using NMPC, the end-effector of the robotic manipulator tracks a predefined geometry path in Cartesian space in such a way that no collision with obstacles in the workspace and no singular configurations for the robot occurs. Nonlinear dynamic of the robot, including actuators dynamic, is also co...
متن کاملOnline automatic tipover prevention for mobile manipulators
Mobile manipulators operating in eld environments are susceptible to dangerous and costly rollover or tipover instabilities, particularly when operating over uneven terrain or when exerting large forces or moments. By monitoring the static and dynamic tipover stability margins of a mobile manipulator it is possible to predict such tipovers and take appropriate actions to prevent the tipover fro...
متن کامل