Motion equation of nonholonomic wheeled mobile robotic manipulator with revolute–prismatic joints using recursive Gibbs–Appell formulation

Korayem, Moharam Habibnejad; Shafei, A. M.

doi:10.1016/j.apm.2014.09.030

Cited by 51 publications

(22 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For simulating the aforementioned robotic system, the inverse dynamic form of the motion equations (Eqs. (13) and 14) should be converted to the forward dynamic form as…”

Section: ∂U ∂Vmentioning

confidence: 99%

Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches

Mirzaeinejad¹,

Shafei²

2018

Robotica

View full text Add to dashboard Cite

SUMMARYThis study deals with the problem of trajectory tracking of wheeled mobile robots (WMR's) under non-holonomic constraints and in the presence of model uncertainties. To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method. Then, new kinematics- and dynamics-based multivariable controllers are analytically developed by using the predictive control approach. The control laws are optimally derived by minimizing a pointwise quadratic cost function for the predicted tracking errors of the WMR. The main feature of the obtained closed-form control laws is that online optimization is not needed for their implementation. The prediction time, as a free parameter in the control laws, makes it possible to achieve a compromise between tracking accuracy and implementable control inputs. Finally, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of some trajectory tracking maneuvers.

show abstract

“…For simulating the aforementioned robotic system, the inverse dynamic form of the motion equations (Eqs. (13) and 14) should be converted to the forward dynamic form as…”

Section: ∂U ∂Vmentioning

confidence: 99%

Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches

Mirzaeinejad¹,

Shafei²

2018

Robotica

View full text Add to dashboard Cite

show abstract

“…Especially, the constrained position 6 always is vibrational under the each i and every mode, it must be reinforced. The other hand, the part of i is severe vibrational, we obtain the impact factor of every i [14].…”

Section: Figure IV the Program Of The Modes And Vibration Shapesmentioning

confidence: 99%

Modeling and Optimization for a Multi-degree Manipulator with Constrained Positions

Yu¹,

Liu²,

Sun³

2016

Proceedings of the 2016 International Conference on Electrical, Mechanical and Industrial Engineering

View full text Add to dashboard Cite

For the urgent demand of lunar landing program, design a space manipulator and its arm with a flexible rotation, high precision, non-polluting and a vacuum operation from a long distance. Determining all the possible constrained positions and optimizing them by finite element software Abaqus, we get the effect factor of each constrained position and the order of the fracture under shock loading finally. Sincerely hope that this work can promote the space manipulator and high-speed development.

show abstract

“…However, the emphasis of this paper is on the less-frequently-used recursive Gibbs-Appell formulation. Recently, this method has been successfully employed for the systematic modeling of elastic robotic manipulators (Korayem and Shafei, 2013), mobile robotic manipulators (Korayem and Shafei, 2015a) and manipulators with revolute-prismatic joints (Korayem and Shafei, 2015b). But in none of these works, the impact model, which should be used to determine a robot's velocity after impact, has been formulated for elastic robotic manipulators.…”

Section: Introductionmentioning

confidence: 99%

Oblique Impact of Multi-Flexible-Link Systems

Shafei

2016

Journal of Vibration and Control

View full text Add to dashboard Cite

The main goal of this paper is to present an automatic approach for the dynamic modeling of the oblique impact of a multi-flexible-link robotic manipulator. The behavior of a multi-flexible-link system confined inside a closed environment with curved walls can be completely expressed by two distinct mathematical models. A set of differential equations is employed to model the system when it has no contact with the curved walls (Flight phase); and a set of algebraic equations is used whenever it collides with the confining surfaces (Impact phase). In this article, in addition to the Assumed Mode Method (AMM), the Euler-Bernoulli Beam Theory (EBBT), and the Newton's kinematic impact law, the Gibbs-Appell (G-A) formulation has been employed to derive the governing equations in both phases. Also, instead of using 3 Â 3 rotational matrices, which involves lengthy kinematic and dynamic formulations for deriving the governing equations, 4 Â 4 transformation matrices have been used. Moreover, for the systematic modeling of flexible multiple links through the space, two virtual links have been added to the n real links of a manipulator. Finally, two case studies have been simulated to demonstrate the validity of the proposed approach.

show abstract

Motion equation of nonholonomic wheeled mobile robotic manipulator with revolute–prismatic joints using recursive Gibbs–Appell formulation

Cited by 51 publications

References 25 publications

Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches

Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches

Modeling and Optimization for a Multi-degree Manipulator with Constrained Positions

Oblique Impact of Multi-Flexible-Link Systems

Contact Info

Product

Resources

About