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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >Two-stage constrained control of mobile manipulators
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Two-stage constrained control of mobile manipulators

机译：移动机器人的两阶段约束控制

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摘要

This work offers the solution at the control feed back level of a complex mobile manipulator task. It comprises the following stages: attaining the desired trajectory to be tracked (end goal task) with zero platform velocity and then tracking this trajectory by the end-effector. These stages are subject to state equality and/or inequality constraints, suitably transformed into control dependent ones. Based on the Lyapunov stability theory, a class of asymptotically stable controllers fulfilling the above constraints and generating a singularity and collision free mobile manipulator trajectory with zero platform velocity and (instantaneous) minimal holonomic energy is proposed. The problem of singularity and collision avoidance enforcement is solved here based on an exterior penalty function approach which results in continuous and bounded mobile manipulator controls even near boundaries of obstacles. The numerical simulation results carried out for a mobile manipulator consisting of a nonholonomic differentially steered wheeled mobile robot and a holonomic manipulator of two revolute kinematic pairs, operating both in a two-dimensional unconstrained task space and task space including the obstacles, illustrate the performance of the proposed controllers.
机译：这项工作为复杂的移动机械手任务的控制反馈级别提供了解决方案。它包括以下阶段：以零平台速度获得要跟踪的目标轨迹（最终目标任务），然后由末端执行器跟踪此轨迹。这些阶段受制于状态相等和/或不平等约束，可以适当地转换为依赖控制的约束。基于李雅普诺夫稳定性理论，提出了一种满足以上约束条件的渐近稳定控制器，该控制器具有零平台速度和（瞬时）最小完整能量产生奇异性和无碰撞移动机械手轨迹。这里基于外部惩罚函数方法解决了奇异性和避免碰撞的问题，这种方法甚至可以在障碍物的边界附近实现连续有界的移动操纵器控制。对由非完整差分转向轮式移动机器人和由两个旋转运动对组成的完整机械手组成的移动机械手进行的数值模拟结果均在二维无约束任务空间和包括障碍物的任务空间中运行，说明了机器人的性能。建议的控制器。

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