UM
Real-time tip-over prevention and path following control for redundant nonholonomic mobile modular manipulators via fuzzy and neural-fuzzy approaches
Li Y.; Liu Y.
2006
Source PublicationJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
ISSN220434
Volume128Issue:4Pages:753
AbstractThis paper presents a practical method for automatic tip-over prevention and path following control of a redundant nonholonomic mobile modular manipulator. According to modular robot concept, the mobile platform is treated as a special module attached to the base of the modular manipulator, then an integrated structure is constructed and its dynamic modeling is performed. A new tip-over stability criterion based on the supporting forces is proposed in consideration of inertia, gravity, and acceleration. An online fuzzy logic (FL) self-motion planner and an adaptive neural-fuzzy controller (ANFC) are presented: The former is used to generate desired self-motions in a real-time manner, and the latter is used to prevent the robot from tipping over and to control the end-effector to follow a desired spacial trajectory at the same time. The proposed algorithm does not need any a priori knowledge of dynamic parameters and can suppress bounded external disturbances effectively. Simulation results for a real robot validate the dynamic modeling method and the controller design algorithm. Copyright © 2006 by ASME.
DOI10.1115/1.2229253
URLView the original
Language英语
The Source to ArticleScopus
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Cited Times [WOS]:39   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Recommended Citation
GB/T 7714
Li Y.,Liu Y.. Real-time tip-over prevention and path following control for redundant nonholonomic mobile modular manipulators via fuzzy and neural-fuzzy approaches[J]. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME,2006,128(4):753.
APA Li Y.,&Liu Y..(2006).Real-time tip-over prevention and path following control for redundant nonholonomic mobile modular manipulators via fuzzy and neural-fuzzy approaches.Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME,128(4),753.
MLA Li Y.,et al."Real-time tip-over prevention and path following control for redundant nonholonomic mobile modular manipulators via fuzzy and neural-fuzzy approaches".Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME 128.4(2006):753.
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