移动机械手
弹道
控制理论(社会学)
移动机器人
PID控制器
基础(拓扑)
计算机科学
控制器(灌溉)
并联机械手
机器人控制
控制工程
模拟
机器人
工程类
控制(管理)
人工智能
数学
温度控制
生物
数学分析
物理
天文
农学
作者
Renesha Ram,Pushparaj Mani Pathak,Sergio Junco
出处
期刊:Simulation
[SAGE]
日期:2018-07-04
卷期号:95 (6): 529-543
被引量:11
标识
DOI:10.1177/0037549718784186
摘要
A mobile manipulator is typically an assembly of a mobile robot base and an on-board manipulator arm. As the manipulator arm is mounted over the mobile robot base, the controller has the additional task of taking care of the disturbances of the mobile robot due to the dynamic interactions between the mobile robot base and manipulator arm. In the present work, dynamic models for the manipulator arm and an omni-wheeled mobile robot base were developed separately and then both were combined. Two control strategies, namely only manipulator arm control (OMAC) and simultaneous manipulator and base control (SMBC) were developed for the effective control of tip trajectory. In both strategies, an amnesia recovery coupled with classical proportional integral and derivative (PID) control was used. The bond graph methodology was used for the development of the dynamic model and control for the mobile manipulator. Simulation results are presented to illustrate the efficacy of the two control strategies.
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