Coordination and decentralized cooperation of multiple mobile manipulators

Khatib, O.; Yokoi, Kazu; Chang, Ken; Ruspini, D.; Holmberg, Robert G.; Casal, A.

doi:10.1002/(sici)1097-4563(199611)13:11<755::aid-rob6>3.3.co;2-5

Cited by 66 publications

(13 citation statements)

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“…is the generalized end-effector wrench [40], α c is the acceleration command . µ(q,q) is the (n×1) function to compensate for Coriolis, gravitational and friction forces in the workspace.…”

Section: Control Framework a Operational Space Dynamicsmentioning

confidence: 99%

A Unified Mobile Manipulator Control for On-line Tip-over Avoidance Based on ZMP Disturbance Observer

Dine¹,

Ramón²,

Mezouar³

et al. 2018

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Introducing mobile manipulators into large working areas has gained importance in the last years. This is due to the fact that manipulators mounted on vehicles have many merits over the ones with fixed bases. The extended workspace and the maneuverability are main advantages of mobile manipulators. However, stability of the system is critical and closely related to the vehicle's motion, arm's motion and the disturbances which may cause the system to tumble. To address the above issue, this paper presents a novel unified dynamic control that keeps the zero moment point (ZMP) on a desired stable position without affecting the end-effector's motion. A redundant scheme is used to develop the motion controller and a novel ZMP disturbance observer is derived to estimate the modeling and inertial errors of the zero moment point to be controlled. Finally, the performance of the proposed controller is validated through dynamic simulation on a 7-dof anthropomorphic arm fixed on differential mobile base. The overall controller not only ensures a good ZMP control for stability but it is also devised to control the end-effector to follow accurately a desired spatial trajectory.

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Section: Control Framework a Operational Space Dynamicsmentioning

confidence: 99%

A Unified Mobile Manipulator Control for On-line Tip-over Avoidance Based on ZMP Disturbance Observer

Dine¹,

Ramón²,

Mezouar³

et al. 2018

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…The solution presented in this paper employs neural networks for image processing and for the recognition of the model-based industrial objects [5]. In this order, a software application was created, giving to the robots the ability of recognizing the parts to be processed on the numericalcontrol machines .…”

Section: Lupu De Tiliutementioning

confidence: 99%

The Communication in Distributed Client - Server Systems Used for Management of Flexible Manufacturing Systems

Lupu

Tiliute

2011

INT J COMPUT COMMUN

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Labour productivity growth is a necessary condition for social and economic progress, in general, and to overcome the economic crisis facing most of the world, in special. Applying innovative solutions, based on the ITC, is one of the straight ways for achieving that objective, both important and necessary. This paper presents a software solution applicable to industrial production based on numerically controlled machines. It involves a distributed client -server communication system, combined with MLP neural networks for the recognition of the 2D industrial objects, viewed from any angle. The information on prismatic and rotational parts to be processed by numerically controlled machine, are stored on a database server together with the corresponding processing programs. The client applications run on the numerically controlled machines and on the robots serving groups of machines. While the machines are fixed, the robots are mobile and can move from a machine to another. As a novelty of the proposed solution, in some well defined situations, the clients are allowed to change messages among them, in order to avoid the server overload. The neural networks are used to help robots to recognize the parts before and during manipulation.

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“…Manipulation of an object involves simultaneous control of clamping/internal forces and the dynamics of the object (Bonitz and Hsia, 1996). Many of the strategies proposed for grasping and manipulation of an object are based on what is known as passive physical-equivalent controllers (Khatib et al, 1996;Wimbock et al, 2011;Fassih et al, 2010;Stramigioli, 1998). These controllers provide solutions robust to uncertainties in environment, but they require complete information on the system states (Bonitz and Hsia, 1996;Stramigioli, 1999;Wimbock et al, 2006).…”

Section: Robust Autonomy For Interactive Robotsmentioning

confidence: 99%

“…This section presents the model of the use case system and conditions of instability during object manipulation. The object-level control based on the virtual springs definition is a versatile approach to object manipulation (Wimbock et al, 2011;Stramigioli, 1999;Khatib et al, 1996), used to achieve robust control for the internal forces and the object dynamics. In this approach, virtual springs definitions with various topologies are used to define the internal forces and the object dynamics.…”

Section: Case Studymentioning

confidence: 99%

Robust autonomy for interactive robots

Brodskiy¹

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Nee heb je, ja kun je krijgen.' Dutch wisdom To my wife Editmy muse and my critic Regelsoftware van hoge kwaliteit, aangevuld met fout-tolerante algoritmes, is essentieel voor het bouwen van autonome robots die ontworpen zijn voor toepassingen in een open omgeving. Het bereiken van fout-tolerante regelsoftware van hoge kwaliteit is het doel van dit onderzoek en de combinatie van de gepresenteerde ontwikkelprocessen en fout-tolerante algoritmes streven dit doel na. A Modelling of the youBot dynamics 83 B Components of youBot motion stack 99 C Derivation of state-space representation of the case study system 105 Bibliography 109 Acknowledgment 117 About the author 119 2 Fault Avoidance in Development of Robot Motion-Control Software by Modeling the Computation In this chapter, we discuss the process of modeling the Computation as means to increase reliability of software components. The approach to developing Embedded Control Software (ECS) is tailored to Component-Based Software Development (CBSD). Such tailoring allows to re-use the ECS development process tools in a development process for robotics software. Model-to-text transformation of the ECS design tool is extended to model-to-component transformation suitable for CBSD frameworks. The development process and tools are demonstrated by a use case.

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Coordination and decentralized cooperation of multiple mobile manipulators

Cited by 66 publications

References 0 publications

A Unified Mobile Manipulator Control for On-line Tip-over Avoidance Based on ZMP Disturbance Observer

A Unified Mobile Manipulator Control for On-line Tip-over Avoidance Based on ZMP Disturbance Observer

The Communication in Distributed Client - Server Systems Used for Management of Flexible Manufacturing Systems

Robust autonomy for interactive robots

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