Optimal Control of Robot Manipulators Using Fuzzy Interaction Prediction System

Sadati, N.; Emamzadeh, Mohammad Mollaie

doi:10.1109/robio.2006.340077

Cited by 2 publications

(2 citation statements)

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“…Nonholonomic mobile platform with three-link spatial prismatic manipulator. 3.566 0.007 e 3 1.286 0.031 e 4 1.384 0.212 e 5 3.737 0.185 e 6 2.882 0.005 e 7 2.980 0.006 e 8 2.929 0.084 e 9 0.556 0.246 e 10 4.495 0.237 e 11 2.071 0.002 e 12 3.333 2.694 e 13 2.576 0.089 is about distance of links (k = 1 for first link and k = 2 for second link) from ith obstacle and with j = 2 is about the joints of first and second links. So, the path planning algorithm must minimize the following cost function: 4…”

Section: Two Arm Nonholonomic Mobile Manipulator In Point-to-point Momentioning

confidence: 99%

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Maximum load determination of nonholonomic mobile manipulator using hierarchical optimal control

et al. 2011

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This paper presents a new method using hierarchical optimal control for path planning and calculating maximum allowable dynamic load (MADL) of wheeled mobile manipulator (WMM). This method is useful for high degrees of freedom WMMs. First, the overall system is decoupled to a set of subsystems, and then, hierarchical optimal control is applied on them. The presented algorithm is a two-level hierarchical algorithm. In the first level, interaction terms between subsystems are fixed, and in the second level, the optimization problem for subsystems is solved. The results of second level are used for calculating new estimations of interaction variables in the first level. For calculating MADL, the load on the end effector is increased until actuators get into saturation. Given a large-scale robot, we show how the presenting in distributed hierarchy in optimal control helps to find MADL fast. Also, it enables us to treat with complicated cost functions that are generated by obstacle avoidance terms. The effectiveness of this approach on simulation case studies for different types of WMMs as well as an experiment for a mobile manipulator called Scout is shown.

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Section: Two Arm Nonholonomic Mobile Manipulator In Point-to-point Momentioning

confidence: 99%

“…Also, the cost function must be separable and there is no guarantee for complete satisfaction of final positions of the states. 7 Papadopoulos et al 8 presented a trajectory planning strategy for nonholonomic mobile manipulators in presence of multiobstacles. They used a polynomial function to describe mobile robot trajectory science.…”

Section: Introductionmentioning

confidence: 99%