Download or read book Integrated Planning and Control of Mobile Manipulators and Robots Using Differential Flatness written by Ji Chul Ryu and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: An integrated methodology for trajectory planning and tracking control has been a key need in the research of mobile robots that have a wide range of applications. Problems of planning and control can be considerably simplified if the system can be shown to have the differential flatness property. This thesis discusses how differential flatness theory can be used for planning and control of various types of mobile robots as an integrated framework. Three common types of mobile robots are proven to be differentially flat, and the property is used for planning and control for their kinematic and dynamic models. The mobile robots can have more practical applications if a manipulator arm is mounted on them. While mobile manipulators are usually designed with a fully actuated arm, under-actuation can be a viable solution to reduce the manufacturing and operating costs. Despite the under-actuation, which makes the system more difficult to plan and control, using the differential flatness theory, mobile manipulators can be designed to be capable of executing point-to-point maneuvers as a mobile manipulator with a fully actuated arm would do. The differential flatness property is achieved by inertia redistribution, with addition of torsional springs at un-actuated joints, and a wide range of designs is possible. Using this design methodology, either a two-wheeled differentially driven mobile robot or a car-like mobile robot can be used as the mobile base and the under-actuated manipulator arm can be mounted either horizontally or vertically on the mobile base. The structure of the differential flatness framework for integrated trajectory planning and control is extended to account for slip disturbances within the model. A feasible desired trajectory and the nominal control were determined for the model with slip, then a corrective control was added based on Lyapunov theory to overcome the disturbances due to the slip. The robust trajectory-tracking controller was developed based on the system's dynamic model as well as its kinematic model in the presence of slip. The simulation and experimental results validate the effectiveness of the proposed methodology and show that differential flatness presents a valuable and effective framework for integrated planning and control of mobile robots.

Download or read book Design and Control Framework for Cooperative Mobile Robot Collectives written by Chin Pei Tang and published by . This book was released on 2009 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation examines development of a framework to achieve cooperative payload transport and manipulation by teams of multiple wheeled mobile robots. Interest in such cooperative systems typically arises when certain tasks are either too complex to be performed by a single agent, or when there are distinct benefits in terms of redundancy, robustness and reliability that accrue by many simple cooperative robotic modules. However, the mechanical capability of both the individual modules as well as their interactions can significantly affect the overall system performance.^Hence, we address various fundamental issues in terms of the design analysis, motion planning and control to equip the robotic modules with mechanical level system-based thinking to realize the physically tight cooperative payload transport task. We begin by the preliminary investigation of the development and evaluation of alternate distributed formulations for dynamic simulation of constrained multibody systems. Two computation methods are compared and evaluated in detailed using the benchmark problem of a four-bar linkage. Although the examination is preliminary, the contribution of this work is to establish a framework to simulate larger cooperative systems with more constraints in a distributed manner. We then investigate the optimal relative layout for members of a team of differentially-driven wheeled mobile robots (DD-WMRs) moving in formation for ultimate deployment in cooperative payload transport tasks.^The contribution of this work is on the modeling of such formation and the development of the optimal motion plans in an "energy efficient" manner globally over a prescribed trajectory using the tools from differential geometry. This work provides the global optimal motion plans that improves the formal local optimization framework presented in [1], which results in smoother collective maneuvers. However, the various individual modules contribute both constraints and capabilities to the cooperative system. Thus, we also seek to examine the performance of such cooperative system composed from the capabilities of the individual wheeled mobile manipulator agents using the tools from screw theory. We argue that a proper design can provide the cooperative system capabilities to: (a) accommodate/create arbitrary payload motions, and (b) support/resist arbitrary payload forces.^The contribution of this work is to carefully examine the system level performance in terms of reconfigurability and actuation requirements. Finally, we examine the use of differential flatness to provide a convenient and formal method to integrate both (point-to-point) motion planning and control of nonholonomic mobile robot systems. The contribution of this work is to develop such control framework for wheeled mobile manipulators and evaluated in the hardware-in-the-loop experimental framework.

Download or read book Introduction to Mobile Robot Control written by Spyros G Tzafestas and published by Elsevier. This book was released on 2013-10-03 with total page 718 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background

Download or read book Differential Flatness Based Design Planning and Control for Classes of Under actuated Systems written by Vivek Sangwan and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Under-actuated systems arise in numerous situations. In certain applications, such as walking robots it is unavoidable as there are phases in walking cycle where the leg tips along the heel or the toes. Under-actuation can be a better design choice for robots in space and industrial applications due to cost and dead-weight considerations. Another instance where under-actuation finds application is in restoring operation in spite of actuator failure. Control of nonlinear under-actuated systems is an area of ongoing research. In general, for an under-actuated system, not all state trajectories are dynamically feasible and it is hard to characterize feasible trajectories analytically. Even if a feasible trajectory is found, designing a controller for an under-actuated system is also a difficult task. Differential flatness, if applicable, provides a systematic unified approach to (i) plan dynamically feasible trajectories and (ii) design a controller that can track those trajectories. However, a nonlinear under-actuated system may not be differentially flat. This work presents an approach to design under-actuated systems to be differentially flat enabling a systematic trajectory planning and control. The design methodology has two parts: (i) a recursive inertia distribution scheme that places the center-of-mass (COM) of links at specific locations and (ii) an actuator and torque spring placement scheme. This approach for Design, Planning and Control is applied to two classes of under-actuated systems: (i) Planar Open-Chain Manipulators and (ii) Bipedal Walking Robots. Feasible trajectories are constructed using SQP based numerical optimization. The optimization algorithm allows to find trajectories that satisfy motion constraints such as limit on torques for serial chain manipulator, ground clearance of the swinging leg for walking robot, etc. A linear full state feedback controller is designed in the flat output domain to track desired trajectories. Results from trajectory planning and dynamic simulations of flatness based tracking are presented for both systems. Based on the design methodology experimental prototypes of (i) a three degree-of-freedom (DOF) under-actuated manipulator and (ii) a four-link bipedal robot have been fabricated. The flatness based control methodology is experimentally demonstrated using the 3-DOF robotic arm. Effect of two kinds of non-idealities on the flatness based controller is studied (i) parametric uncertainties and (ii) unmodeled viscous friction at unactuated joints. For parametric uncertainties, it is shown that under certain conditions a robust controller can be designed. For viscous friction, it is shown that (i) for the original set of flat outputs a stable internal dynamics is induced and (ii) the system remains differentially flat with an alternate set of outputs. Results from tracking simulations for both conditions are presented. This work essentially integrates the Planning and Control of Under-Actuated Mechanical Systems with their Design. It has been demonstrated by simulations and experiments that certain classes of under-actuated systems can be designed to be differentially flat enabling a systematic trajectory planning and control. It is also shown that certain types of non-idealities can be compensated with a robust control strategy or a modification in the flat outputs. With additional design features, such as locks at unactuated joints, these designs can potentially provide a cheaper alternative for fully actuated robots in applications where point to point motion is desired. This work suggests that it can be beneficial to design a system not just from the perspective of the actual task at hand but also from the perspective of Planning and Control.

Download or read book Fundamentals in Modeling and Control of Mobile Manipulators written by Zhijun Li and published by CRC Press. This book was released on 2016-04-19 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design.

Download or read book Dynamics and Control of Robotic Manipulators with Contact and Friction written by Shiping Liu and published by John Wiley & Sons. This book was released on 2019-02-11 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.

Download or read book Repetitive Motion Planning and Control of Redundant Robot Manipulators written by Yunong Zhang and published by Springer Science & Business Media. This book was released on 2014-07-08 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.

Download or read book Integrating Planning and Control for Constrained Dynamical Systems written by David C. Conner and published by . This book was released on 2007 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "This thesis develops an approach to addressing the coupled navigation and control problem for wheeled mobile robots. Instead of using a top-down decoupled approach that does not respect low-level constraints, or a bottom-up approach that cannot guarantee satisfaction of high-level goals, our approach is middle-out. We develop local feedback control policies that respect the low-level constraints. The approach then uses a collection of these policies with existing formal discrete planning methods to either produce a hybrid feedback control policy that guarantees high-level goals are satisfied, or in the worst case, verifies that the high-level specification is not realizable. Our approach enables existing formal symbolic planning methods to be applied to highly constrained systems. We extend the sequential composition of local feedback control policies to wheeled mobile robots in a way that enables the automated synthesis of hybrid control policies. The thesis defines four basic 'composability' requirements that guide our design of local policies. We develop two families of generic feedback policies that induce low-level behaviors in a way that enables their formal composition. The thesis also develops a novel approach for guaranteeing that a given control policy is collision free. By design, the policies respect multiple interacting constraints including large non-circular body shapes, nonholonomic constraints, and input bounds. Given a collection of the local policies and a task specification, our approach uses existing symbolic planning methods to automatically synthesize a switching strategy among the policies. Executing the switching strategy induces continuous motion that satisfies the high-level behavioral specification. This thesis demonstrates the approach on real mobile robots. While wheeled mobile robot navigation is the chosen domain in this thesis, our future work will develop composable policies that extend these formal methods to other constrained dynamical systems."

Download or read book Control of Mobile Manipulators written by Jindong Tan and published by . This book was released on 2002 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Coordinated Control of Multiple Robotic Manipulators Based on Differential Flatness written by Elisha Didam Markus and published by . This book was released on 2015 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discusses how multiple robot formations are required to share and synchronize information among themselves. This shared information may be in the form of relative positions, velocities or acceleration referred to as the robot states. Each robot state must asymptotically reach a common value which we may refer to as reaching consensus or synchronization. To achieve cooperation among the robots towards completing a given task, an effective coordinating control strategy is required. This will harness each robot in the network towards the goal at hand. One major limitation of model based synchronization control in robotics is that the dynamics considered are often approximated or typically too simple for modelling complex robotic scenarios. Higher order systems are reduced to lower order to enable easier analysis. Coordinating motion for a group of Multiple robots also means that the dynamics of the coupled robotic network becomes too large and almost intractable to solve. This research work seeks to apply differential flatness to improve coordination control of model based multi-robotic manipulators. The computational burden is thereby reduced since linear tools are employed to solve the nonlinear problem. In this study, the motion control problem of cooperating robots is formulated as follows: 1. Controllability and differential flatness analysis of robot ; 2. Motion/trajectory planning and controller design and 3. Synchronization control of multiple robot manipulators.

Download or read book Differentially Flat Systems written by Hebertt Sira-Ramírez and published by CRC Press. This book was released on 2018-10-03 with total page 489 pages. Available in PDF, EPUB and Kindle. Book excerpt: Illustrating the power, simplicity, and generality of the concept of flatness, this reference explains how to identify, utilize, and apply flatness in system planning and design. The book includes a large assortment of exercises and models that range from elementary to complex classes of systems. Leading students and professionals through a vast array of designs, simulations, and analytical studies on the traditional uses of flatness, Differentially Flat Systems contains an extensive amount of examples that showcase the value of flatness in system design, demonstrate how flatness can be assessed in the context of perturbed systems and apply static and dynamic feedback controller design techniques.

Download or read book Controllability of Mobile Robots with Kinematic Constraints written by Stanford University. Center for Integrated Facility Engineering and published by . This book was released on 1992 with total page 30 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robotic Manipulators and Vehicles written by Gerasimos Rigatos and published by Springer. This book was released on 2018-05-24 with total page 759 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.

Download or read book RAMSETE written by Salvatore Nicosia and published by Springer. This book was released on 2003-07-01 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics applications, initially developed for industrial and manufacturing contexts, are now strongly present in several elds. Besides well-known space and high-technology applications, robotics for every day life and medical s- vices is becoming more and more popular. As an example, robotic manipu- tors are particularly useful in surgery and radiation treatments, they could be employed for civil demining, for helping disabled people, and ultimately for domestic tasks, entertainment and education. Such a kind of robotic app- cations require the integration of many di erent skills. Autonomous vehicles and mobile robots in general must be integrated with articulated manipu- tors. Many robotic technologies (sensors, actuators and computing systems) must be properly used with speci c technologies (localisation, planning and control technologies). The task of designing robots for these applications is a hard challenge: a speci c competence in each area is demanded, in the e ort of a truly integrated multidisciplinary design.

Download or read book Introduction to Autonomous Mobile Robots second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Download or read book Nonholonomic Motion Planning written by Zexiang Li and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 455 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.

Download or read book Mobile Robot Motion Control and Path Planning written by Ahmad Taher Azar and published by Springer. This book was released on 2024-07-02 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning.As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.