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2006
IEEE

A New Method of Executing Multiple Auxiliary Tasks by Redundant Nonholonomic Mobile Manipulators

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A New Method of Executing Multiple Auxiliary Tasks by Redundant Nonholonomic Mobile Manipulators
— This paper addresses the multiple tasks performing issues for redundant nonholonomic mobile manipulators. An extended gradient projection redundancy resolution scheme is proposed which can determine the directions of self-motion to perform multiple secondary tasks. This scheme is easy to use and can avoid algorithm singularities. A general dynamic modeling method is presented in consideration of nonholonomic constraints, interactive motions and self-motions. A real-time fuzzy logic self-motion planner is devised to create desired selfmotion magnitudes and a robust adaptive neural-network controller is designed to accomplish multiple secondary tasks without affecting the primary one in the workspace. The effectiveness of the proposed algorithm is verified through simulations for a 3DOF manipulator atop a 3-wheeled mobile platform system.
Yugang Liu, Yangmin Li
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Yugang Liu, Yangmin Li
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