[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Korayem et al., 2024 - Google Patents

Wheel slippage compensation in mobile manipulators through combined kinematic, dynamic, and sliding mode control

Korayem et al., 2024

Document ID
8766207150122255020
Author
Korayem M
Dehkordi S
Ghobadi N
Publication year
Publication venue
Arabian Journal for Science and Engineering

External Links

Snippet

In this article, an updated dynamic model of mobile manipulators is presented, which incorporates the effects of wheel slipping and skidding in the mobile base motion equations. This modified model is then used to design an improved control algorithm. The interaction …
Continue reading at link.springer.com (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet

Similar Documents

Publication Publication Date Title
Gheisarnejad et al. An intelligent non-integer PID controller-based deep reinforcement learning: Implementation and experimental results
Zhang et al. QP-based refined manipulability-maximizing scheme for coordinated motion planning and control of physically constrained wheeled mobile redundant manipulators
Yang et al. Neural network-based motion control of an underactuated wheeled inverted pendulum model
Zhong et al. System modeling and tracking control of mobile manipulator subjected to dynamic interaction and uncertainty
Yu et al. Cooperative control of dual-arm robots in different human-robot collaborative tasks
Habibnejad Korayem et al. Designing an optimal control strategy for a mobile manipulator and its application by considering the effect of uncertainties and wheel slipping
Kamel et al. Decentralized leader-follower formation control with obstacle avoidance of multiple unicycle mobile robots
Mazare et al. Fault-tolerant control based on adaptive super-twisting nonsingular integral-type terminal sliding mode for a delta parallel robot
Wu et al. Vision-based neural predictive tracking control for multi-manipulator systems with parametric uncertainty
Samadikhoshkho et al. Nonlinear control of aerial manipulation systems
Montano et al. Orbital stabilization of an underactuated bipedal gait via nonlinear H∞-control using measurement feedback
Wahballa et al. Constant force tracking using online stiffness and reverse damping force of variable impedance controller for robotic polishing
Tang et al. Disturbance-observer-based tracking controller for neural network driving policy transfer
Chen et al. Adaptive robust control based on Moore-Penrose generalized inverse for underactuated mechanical systems
Korayem et al. Wheel slippage compensation in mobile manipulators through combined kinematic, dynamic, and sliding mode control
Khesrani et al. Motion planning and control of nonholonomic mobile robot using flatness and fuzzy logic concepts
Korayem et al. Regulation of cost function weighting matrices in control of WMR using MLP neural networks
Chung et al. Robust interaction control of a mobile manipulator–dynamic model based coordination
Keighobadi et al. Self-constructing neural network modeling and control of an AGV
Chen et al. Integrating local motion planning and robust decentralized fault-tolerant tracking control for search and rescue task of hybrid UAVs and biped robots team system
Handler et al. Multidimensional path tracking with global least squares solution
Pham et al. Double-loop control with hierarchical sliding mode and proportional integral loop for 2D ridable ballbot
Kilicaslan et al. Hybrid force and motion control of robots with flexible links
Sheikhlar et al. Online policy iteration-based tracking control of four wheeled omni-directional robots
Mary et al. Robust H-infinity (H∞) stabilization of uncertain wheeled mobile robots