Mathematical modelling and virtual decomposition control of heavy-duty parallel–serial hydraulic manipulators

Petrović, Goran R.; Mattila, Jouni

doi:10.1016/j.mechmachtheory.2021.104680

Cited by 22 publications

(13 citation statements)

References 20 publications

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“…A 6D vector dynamics model of a mobile manipulator will be derived starting with the derivation of a wheel dynamics model, followed by that of a chassis dynamics model. As a manipulator arm, a serial-parallel hydraulic manipulator will be used and modelled using the state-of-the-art N-E model given in [37], although any N-E model of any manipulator arm would fit in the proposed narrative.…”

Section: Choosing the Modelling Formalismmentioning

confidence: 99%

“…with W i I representing the inertia tensor of the i-th wheel about the {W i } frame axes and W i m * i representing the total external moment vector acting on the i-th wheel, expressed as would be measured in the {W i } frame. We note that in both ( 36) and ( 37), the frame angular velocity exists given per (35), whereas (34) participates only in (37).…”

Section: D Vector Mobile Manipulator Dynamics a Wheel Dynamicsmentioning

confidence: 99%

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Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces

Petrović

Mattila

2022

IEEE Access

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When a mobile manipulator's wheel loses contact with the ground, the manipulator may overturn, causing material damage, and in the worst case, putting human lives in danger. The overturning stability of wheeled mobile manipulators must not be overlooked at any stage of the mobile manipulator's life, starting from the design phase, continuing through the commissioning period and extending to the operational phase. The various overturning stability criteria formulated throughout the years do not explicitly consider normal wheel loads, with most of them relying on the prescribed stability margins in terms of overturning moments. These formulations commonly consider the overturning moments regarding axes connecting the adjacent manipulator's contact points with the ground and could be notably restrictive. Explicit expressions for the supporting forces of the manipulator provide the best insights into the relevant affecting terms that contribute to the overturning (in)stability. They also reduce the necessity for considering about which axis the manipulator could overturn and simultaneously enable the formulation of more intuitive stability margins and on-line overturning prevention techniques. The present study presents a general dynamics modelling approach in the Newton-Euler framework using 6D vectors and provides normal wheel load equations for a typical 4-wheeled rigid-chassis mobile manipulator traversing uneven terrain. The given expressions are expected to become the standard guidelines in considered wheeled mobile manipulators and to provide a basis for effective overturning stability criteria and overturning avoidance techniques. Based on the presented results, specific improvements of the state-of-the-art criteria are discussed.

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Section: Choosing the Modelling Formalismmentioning

confidence: 99%

Section: D Vector Mobile Manipulator Dynamics a Wheel Dynamicsmentioning

confidence: 99%

Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces

Petrović

Mattila

2022

IEEE Access

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“…A 6D vector dynamics model of a mobile manipulator will be derived starting from deriving a wheel dynamics model, followed by deriving a chassis dynamics model. As a manipulator arm, a serial-parallel hydraulic manipulator will be used and modelled using the state-of-the-art N-E model given in [31], although any N-E model of any manipulator arm would fit in the proposed narrative.…”

Section: Choosing the Modelling Formalismmentioning

confidence: 99%

“…Forces/moments vector B M F at the manipulator arm base can be calculated as, for example, in [31] and B M F is easily obtained knowing the orientation of the manipulator arm base frame {B M } with respect to the chassis-fixed frame {B M }.…”

Section: Weight Transfer To Manipulator Wheelsmentioning

confidence: 99%

Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces

Petrović,

Mattila

2022

Preprint

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This project STREAM has received funding from the Shift2Rail joint Undertaking (JU) under grant agreement No. 101015418. The JU receives support from the European Union's Horizon 2020 research and innovation programme and the Shift2Rail JU members other than the Union. The content of this paper does not reflect the official opinion of the Shift2Rail Joint Undertaking (S2R JU). Responsibility for the information and views expressed in the paper lies entirely with the authors.

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“…Yao et al introduced the ARISE control method to achieve asymptotic tracking with various disturbances [17][18][19]. Mattila et al designed the VDC approach to convert the complex robotic system into easier-to-handle dynamic subsystems without introducing additional approximations [20][21][22]. In addition, some researchers have applied terminal sliding mode control [23], supertwisting control [24], and other control strategies to various hydraulic-driven mechanisms.…”

Section: Introductionmentioning

confidence: 99%

A Teleoperation Framework Based on Heterogeneous Matching for Hydraulic Manipulator

et al. 2022

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In recent years, hydraulic manipulators have been more and more widely used in the field of industrial automation because of their high power-to-weight ratio. Compared with autonomous control, bilateral teleoperation is a more reliable way to operate hydraulic manipulators on harsh occasions. However, teleoperation application in the hydraulic field is still limited due to operation accuracy and master–slave heterogeneous problem. In this paper, a teleoperation framework based on master–slave heterogeneous matching and nonlinear precise motion control for hydraulic manipulator is proposed, including workspace mapping algorithm, velocity-limited interpolator, inverse kinematics solver, trajectory planner, model-based controller, and feedback torque generator. The high-precision teleoperation of the hydraulic manipulator in the situation of master–slave heterogeneity is finally realized based on the designed teleoperation framework. The specialized experiment is set up, and the results also show that the method proposed in this paper can satisfy the teleoperation requirements of the hydraulic manipulator with the maximum operating accuracy up to 0.02 m under the condition of master–slave heterogeneity, which can greatly improve the applicability of hydraulic manipulator teleoperation in the case of master–slave heterogeneity.

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Mathematical modelling and virtual decomposition control of heavy-duty parallel–serial hydraulic manipulators

Cited by 22 publications

References 20 publications

Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces

Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces

Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces

A Teleoperation Framework Based on Heterogeneous Matching for Hydraulic Manipulator

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