Online fuzzy logic control for tipover avoidance of autonomous redundant mobile manipulators Online publication date: Thu, 16-Mar-2006
by Yangmin Li, Yugang Liu
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 4, No. 1, 2006
Abstract: A redundant mobile manipulator composed of a three-wheeled non-holonomic mobile platform and a N-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.
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