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. However, advances in nonlinear system analysis and control system design offer powerful tools and concepts for the control of mobile manipulator systems. Fundamentals in Modeling and Control of Mobile Manipulators presents a thorough theoretical treatment of several fundamental problems for mobile robotic manipulators.
The book integrates fresh concepts and state-of-the-art results to systematically examine kinematics and dynamics, motion generation, feedback control, coordination, and cooperation. From this treatment, the authors form a basic theoretical framework for a mobile robotic manipulator that extends the theory of nonlinear control and applies to more realistic problems. Drawing on their research over the past ten years, the authors propose novel control theory concepts and techniques to tackle key problems.
Topics covered include kinematic and dynamic modeling, control of nonholonomic systems, path planning that considers motion and manipulation, hybrid motion/force control and hybrid position/force control where the mobile manipulator is required to interact with environments, and coordination and cooperation strategies for multiple mobile manipulators. The book also includes practical examples of applications in engineering systems. This timely book investigates important scientific and engineering issues for researchers and engineers working with either single or multiple mobile manipulators for larger operational space, better cooperation, and improved productivity.
Author(s): Zhijun Li, Shuzhi Sam Ge
Series: Automation and Control Engineering
Publisher: CRC Press
Year: 2013
Language: English
Pages: xvi+280
City: Boca Raton
Fundamentals in Modeling and Control of Mobile Manipulators......Page 6
Contents......Page 10
Preface......Page 14
Acknowledgements......Page 16
1.1 Mobile Manipulator Systems......Page 18
1.2 Background and Motivations......Page 24
1.3 Outline of the Book......Page 30
2.1 Introduction......Page 34
2.2.1 Differential-driven Mobile Platform......Page 36
2.2.2 Car-like Mobile Platform......Page 40
2.3 Kinematics of Robotic Manipulators......Page 41
2.4 Dynamics of Mobile ManipulatorsIn general, the dynamics of mobile manipulator......Page 44
2.4.1 Lagrange-Euler Equations......Page 45
2.4.2 Kinetic Energy......Page 48
2.4.4 Lagrangian Equations......Page 49
2.4.5 Properties of Dynamic Equations......Page 51
2.5 Dynamics in Cartesian Space......Page 53
2.6 Conclusion......Page 56
3.1.1 Introduction......Page 58
3.1.2 Preliminaries and Problem Formulation......Page 60
3.1.3 Dynamics and Kinematics of Mobile Manipulators......Page 61
3.1.4 Motion Generation......Page 65
3.2.1 Introduction......Page 69
3.2.2 System Description and Assumption......Page 70
3.2.3 Dynamics of System......Page 71
3.2.4 Motion Generation......Page 75
3.2.5 Collision-free Motion Planning......Page 77
3.2.6 Simulation Studies......Page 85
3.3 Conclusion......Page 96
4.1 Introduction......Page 98
4.2 System Description......Page 99
4.3 Model Reference Control......Page 103
4.4 Simulation Studies......Page 106
4.5 Conclusion......Page 109
5 Adaptive Robust Hybrid Motion/Force Control......Page 110
5.1.1 Introduction......Page 111
5.1.2 Robust Control......Page 113
5.1.3 Adaptive Robust Control......Page 115
5.1.4 Simulation Studies......Page 118
5.2.1 Introduction......Page 119
5.2.2 Actuator Dynamics......Page 122
5.2.3 Output-feedback Control Design......Page 124
5.2.4 Kinematic and Dynamic Subsystems......Page 125
5.2.5 Control Design at the Actuator Level......Page 126
5.2.6 Stability Analysis......Page 127
5.2.7 Simulation Studies......Page 132
5.3.1 Introduction......Page 138
5.3.2 Nonholonomic Constraint in Chained Form......Page 139
5.3.3 Reduced Model and State Transformation......Page 140
5.3.4 Uncertain Holonomic Constraints......Page 141
5.3.5 Adaptive Control......Page 145
5.3.6 Simulation Studies......Page 152
5.4 Conclusion......Page 156
6.1 Introduction......Page 158
6.2 System Description......Page 161
6.3 High-gain Observer......Page 166
6.4 Adaptive Output Feedback Control......Page 167
6.5 Simulation Studies......Page 173
6.6 Conclusion......Page 182
7 Coordination Control......Page 184
7.1.1 Introduction......Page 185
7.1.2 System Description and Assumptions......Page 186
7.1.3 Dynamics of System......Page 187
7.1.4 Robust Control Design......Page 191
7.1.5 Robust Adaptive Control Design......Page 194
7.1.6 Simulation Studies......Page 197
7.2 Decentralized Coordination......Page 202
7.2.2 Dynamics of Interconnected System......Page 206
7.2.3 Decentralized Adaptive Control......Page 212
7.2.4 Simulation Studies......Page 217
7.3 Conclusion......Page 223
8.1 Introduction......Page 228
8.2.1 Kinematic Constraints of the System......Page 232
8.2.2 Robot Dynamics......Page 234
8.2.3 Reduced Dynamics......Page 237
8.3.2 Control Design......Page 239
8.3.3 Control Stability......Page 243
8.4 Simulation Studies......Page 254
8.5 Conclusion......Page 257
9.1 Example of 2-DOF Mobile Manipulator......Page 258
9.2 Example of 3-DOF Mobile Manipulator......Page 264
Bibliography......Page 272
Index......Page 292
