Autonomous Mobile Robot Research Using The Hermies-III Robot

Pin, F.G.; Beckerman, M.; Spelt, P.F.; Robinson, J.T.; Weisbin, C.R.

doi:10.1109/iros.1989.637915

Cited by 13 publications

(8 citation statements)

References 6 publications

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“…4. In this case the algorithm resolves the redundancy based on feedback measurements of sensors, e.g., the encoder sensors of the motors of the CESARm research manipulator [21,36,37,38]. A comparison of the performance of the input relegation control using eq.…”

Section: Two Non-redundant Step Methodsmentioning

confidence: 99%

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Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

Unseren¹

1993

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Section: Two Non-redundant Step Methodsmentioning

confidence: 99%

“…Eqs. (7) and (36) reveal that the absolute value of any component of _r cannot exceed unity and that (11_z_"p I]2)2 _< 1.…”

Section: Application Of Lwp Orientation Error To Redundant Manipulatorsmentioning

confidence: 97%

Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

Unseren¹

1993

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“…It is assumed that the serial-link manipulator has a single redundant DOF(N = M . 1), e.g., the CESARm research manipulator in its most general configuration with M -6 and N = 7 [6,10,11,12]. Thus e is a scalar and B(q) is an N-dimensional row vector.…”

Section: Choosing B Orthogonal To the Rows Of Jmentioning

confidence: 99%

“…In this appendix the (3 x 4) Jacobian matrix which transforms the joint velocities of the lower four joints of the CESARm research manipulator [6,10,11,12] to obtain the Cartesian translational velocities of the centerpoint of the wrist is specified. Let jim denote the element located at the intersection of the lth row and rnth column of J(q).…”

mentioning

confidence: 99%

Input relegation control for gross motion of a kinematically redundant manipulator

Unseren¹

1992

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This report proposes a method for resolving the kinematic redundancy of a serial link manipulator moving in a three-dimensional workspace. The underspecified • problem of solving for the joint velocities based on the classical kinematic velocity model is transformed into a well-specified problem. This is accomplished by augmenting the original model with additional equations which relate a new vector variable quantifying the redundant degrees of freedom (DOF) to the joint velocities. The resulting augmented system yields a well specified solution for the joint velocities. Methods for selecting the redundant DOF quantifying variable and the transformation matrix relating it to the joint velocities are presented so as to obtain a minimum Euclidean norm solution for the joint velocities. The approach is also applied to the problem of resolving the kinematic redundancy at the acceleration level. Upon resolving the kinematic redundancy, a rigid body dynamical model governing the gross motion of the manipulator is derived. A control architecture is suggested, which according to the model, decouples the Cartesian space DOF and the redundant DOF.

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“…Multi-degree-of-freedom (MDOF) vehicles [12] have multiple drive and steer motors and display exceptional maneuverability in tight quarters in comparison to conventional 2-DOF mobility systems [13] Several design configurations are possible. For example, HERMIES-III, an experimental test bed designed and built at the Oak Ridge National Laboratory [14,15] has two powered wheels that are also individually steered. With four independent motors, it is a mobile robot with omnidirectional steering and is a 4-degreeof-freedom vehicle.…”

Section: Introductionmentioning

confidence: 99%

Design, control, and performance of the ‘weed’ 6 wheel robot in the UK MOD grand challenge

et al. 2013

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A new locomotion method for unmanned (autonomous) ground vehicles (UGV) is proposed based around six independently driven wheels mounted on three separate modules. Each module is attached to the overall robot via a pivot point and capable of independently controlling its orientation and velocity. This configuration allows the UGV to perform maneuvers conventional vehicles cannot perform, and in particular to control the body orientation separately from the movement direction. The locomotion method is mathematically analyzed to develop appropriate control algorithms and to demonstrate the vehicle performance criteria. A vehicle was constructed according to the proposed configuration and experimentally tested in the UK MOD grand challenge. The performance of the developed locomotion schemes helped the robot make it to the finale of the competition.

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Autonomous Mobile Robot Research Using The Hermies-III Robot

Cited by 13 publications

References 6 publications

Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

Input relegation control for gross motion of a kinematically redundant manipulator

Design, control, and performance of the ‘weed’ 6 wheel robot in the UK MOD grand challenge

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