Adaptive unified motion control of mobile manipulators

Autores
Andaluz, Víctor Hugo; Roberti, Flavio; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar
Año de publicación
2012
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper presents a unified motion controller for mobile manipulators which not only solves the problems of point stabilization and trajectory tracking but also the path following problem. The control problem is solved based on the kinematic model of the robot. Then, a dynamic compensation is considered based on a dynamic model with inputs being the reference velocities to the mobile platform and the manipulator joints. An adaptive controller for on-line updating the robot dynamics is also proposed. Stability and robustness of the complete control system are proved through the Lyapunov method. The performance of the proposed controller is shown through real experiments.
Fil: Andaluz, Víctor Hugo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Roberti, Flavio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Materia
Mobile manipulator
Unified motion control
Nonlinear systems
Adaptive control
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/236539
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Adaptive unified motion control of mobile manipulatorsAndaluz, Víctor HugoRoberti, FlavioToibero, Juan MarcosCarelli Albarracin, Ricardo OscarMobile manipulatorUnified motion controlNonlinear systemsAdaptive controlhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper presents a unified motion controller for mobile manipulators which not only solves the problems of point stabilization and trajectory tracking but also the path following problem. The control problem is solved based on the kinematic model of the robot. Then, a dynamic compensation is considered based on a dynamic model with inputs being the reference velocities to the mobile platform and the manipulator joints. An adaptive controller for on-line updating the robot dynamics is also proposed. Stability and robustness of the complete control system are proved through the Lyapunov method. The performance of the proposed controller is shown through real experiments.Fil: Andaluz, Víctor Hugo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Roberti, Flavio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaPergamon-Elsevier Science Ltd2012-12info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/236539Andaluz, Víctor Hugo; Roberti, Flavio; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Adaptive unified motion control of mobile manipulators; Pergamon-Elsevier Science Ltd; Control Engineering Practice; 20; 12; 12-2012; 1337-13520967-0661CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0967066112001517info:eu-repo/semantics/altIdentifier/doi/10.1016/j.conengprac.2012.07.008info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:22:00Zoai:ri.conicet.gov.ar:11336/236539instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:22:01.073CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Adaptive unified motion control of mobile manipulators
title Adaptive unified motion control of mobile manipulators
spellingShingle Adaptive unified motion control of mobile manipulators
Andaluz, Víctor Hugo
Mobile manipulator
Unified motion control
Nonlinear systems
Adaptive control
title_short Adaptive unified motion control of mobile manipulators
title_full Adaptive unified motion control of mobile manipulators
title_fullStr Adaptive unified motion control of mobile manipulators
title_full_unstemmed Adaptive unified motion control of mobile manipulators
title_sort Adaptive unified motion control of mobile manipulators
dc.creator.none.fl_str_mv Andaluz, Víctor Hugo
Roberti, Flavio
Toibero, Juan Marcos
Carelli Albarracin, Ricardo Oscar
author Andaluz, Víctor Hugo
author_facet Andaluz, Víctor Hugo
Roberti, Flavio
Toibero, Juan Marcos
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Roberti, Flavio
Toibero, Juan Marcos
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
dc.subject.none.fl_str_mv Mobile manipulator
Unified motion control
Nonlinear systems
Adaptive control
topic Mobile manipulator
Unified motion control
Nonlinear systems
Adaptive control
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper presents a unified motion controller for mobile manipulators which not only solves the problems of point stabilization and trajectory tracking but also the path following problem. The control problem is solved based on the kinematic model of the robot. Then, a dynamic compensation is considered based on a dynamic model with inputs being the reference velocities to the mobile platform and the manipulator joints. An adaptive controller for on-line updating the robot dynamics is also proposed. Stability and robustness of the complete control system are proved through the Lyapunov method. The performance of the proposed controller is shown through real experiments.
Fil: Andaluz, Víctor Hugo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Roberti, Flavio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
description This paper presents a unified motion controller for mobile manipulators which not only solves the problems of point stabilization and trajectory tracking but also the path following problem. The control problem is solved based on the kinematic model of the robot. Then, a dynamic compensation is considered based on a dynamic model with inputs being the reference velocities to the mobile platform and the manipulator joints. An adaptive controller for on-line updating the robot dynamics is also proposed. Stability and robustness of the complete control system are proved through the Lyapunov method. The performance of the proposed controller is shown through real experiments.
publishDate 2012
dc.date.none.fl_str_mv 2012-12
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/236539
Andaluz, Víctor Hugo; Roberti, Flavio; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Adaptive unified motion control of mobile manipulators; Pergamon-Elsevier Science Ltd; Control Engineering Practice; 20; 12; 12-2012; 1337-1352
0967-0661
CONICET Digital
CONICET
url http://hdl.handle.net/11336/236539
identifier_str_mv Andaluz, Víctor Hugo; Roberti, Flavio; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Adaptive unified motion control of mobile manipulators; Pergamon-Elsevier Science Ltd; Control Engineering Practice; 20; 12; 12-2012; 1337-1352
0967-0661
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0967066112001517
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.conengprac.2012.07.008
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Pergamon-Elsevier Science Ltd
publisher.none.fl_str_mv Pergamon-Elsevier Science Ltd
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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