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Online fuzzy logic control for tipover avoidance of autonomous redundant mobile manipulators
Li, Yangmin1,2; Liu, Yugang1,3
2018-06-20
Source PublicationInternational Journal of Vehicle Autonomous Systems
ISSN14710226
Volume4Issue:1Pages:24-43
AbstractA redundant mobile manipulator composed of a three-wheeled non-holonomic mobile platform and a AT-degrees of freedom (DOF) onboard manipulator is investigated in this paper. Redundancy for such a robot is exploited to avoid tipover via online adjusting self-motions. The dynamic model is established and a new tipover criterion is proposed considering inertia, gravity and acceleration. An online fuzzy logic (FL) self-motion planner and a robust adaptive controller are presented to prevent the robot from tipover without affecting the end-effector's motion tasks. Real experiments for a redundant mobile manipulator demonstrate that the proposed algorithm is effective. Copyright © 2006 Inderscience Enterprises Ltd.
Language英语
The Source to ArticleEngineering Village
Fulltext Access
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira S.J., Taipa, Macao SAR, China;
2.Department of Robotics, Mechatronics, Control, and Automation, University of Macau;
3.University of Macau
First Author AffilicationFaculty of Science and Technology;  University of Macau
Recommended Citation
GB/T 7714
Li, Yangmin,Liu, Yugang. Online fuzzy logic control for tipover avoidance of autonomous redundant mobile manipulators[J]. International Journal of Vehicle Autonomous Systems,2018,4(1):24-43.
APA Li, Yangmin,&Liu, Yugang.(2018).Online fuzzy logic control for tipover avoidance of autonomous redundant mobile manipulators.International Journal of Vehicle Autonomous Systems,4(1),24-43.
MLA Li, Yangmin,et al."Online fuzzy logic control for tipover avoidance of autonomous redundant mobile manipulators".International Journal of Vehicle Autonomous Systems 4.1(2018):24-43.
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