Motion Control of Non-Holonomic Wheeled Mobile Robot Based on Particle Swarm Optimization Method (PSO)

Tawfik, Mauwafak Ali

doi:10.33261/jaaru.2019.26.1.008

Cited by 1 publication

(1 citation statement)

References 21 publications

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“…Meanwhile, due to the difference in the number of input and output variables, the mobile platform includes holonomic and non-holonomic constraint equations. The non-holonomic constraints of the mobile platform increase the complexity of system control [18][19][20]. Researchers combined screw theory and Lie algebra to simplify the kinematic modeling of the manipulator robot in order to solve the kinematic modeling of the manipulator robot.…”

Section: Introductionmentioning

confidence: 99%

Optimizing Kinematic Modeling and Self-Collision Detection of a Mobile Manipulator Robot by Considering the Actual Physical Structure

Qiao

Luo

et al. 2021

Applied Sciences

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In this paper, an optimized kinematic modeling method to accurately describe the actual structure of a mobile manipulator robot with a manipulator similar to the universal robot (UR5) is developed, and an improved self-collision detection technology realized for improving the description accuracy of each component and reducing the time required for approximating the whole robot is introduced. As the primary foundation for trajectory tracking and automatic navigation, the kinematic modeling technology of the mobile manipulator has been the subject of much interest and research for many years. However, the kinematic model established by various methods is different from the actual physical model due to the fact that researchers have mainly focused on the relationship between driving joints and the end positions while ignoring the physical structure. To improve the accuracy of the kinematic model, we present a kinematic modeling method with the addition of key points and coordinate systems to some components that failed to model the physical structure based on the classical method. Moreover, self-collision detection is also a primary problem for successfully completing the specified task of the mobile manipulator. In traditional self-collision detection technology, the description of each approximation is determined by the spatial transformation of each corresponding component in the mobile manipulator robot. Unlike the traditional technology, each approximation in the paper is directly established by the physical structure used in the kinematic modeling method, which significantly reduces the complicated analysis and shortens the required time. The numerical simulations prove that the kinematic model with the addition of key point technology is similar to the actual structure of mobile manipulator robots, and the self-collision detection technology proposed in the article effectively improves the performance of self-collision detection. Additionally, the experimental results prove that the kinematic modeling method and self-collision detection technology outlined in this paper can optimize the inverse kinematics solution.

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Section: Introductionmentioning

confidence: 99%