Title: Online fuzzy logic control for tipover avoidance of autonomous redundant mobile manipulators

Authors: Yangmin Li, Yugang Liu

Addresses: Faculty of Science and Technology, University of Macau, Av. Padre Tomas Pereira S.J., Taipa, Macao SAR, PR China. ' Faculty of Science and Technology, University of Macau, Av. Padre Tomas Pereira S.J., Taipa, Macao SAR, PR China

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.

Keywords: adaptive control; fuzzy logic; mobile manipulators; non-holonomic robots; redundant robots; robust control; tipover avoidance; fuzzy control; robot control; autonomous manipulators; autonomous robots; self-motion adjustment; online adjustment; mobile robots; dynamic modelling; motion planning; manipulator control; robot kinematics.

DOI: 10.1504/IJVAS.2006.009306

International Journal of Vehicle Autonomous Systems, 2006 Vol.4 No.1, pp.24 - 43

Published online: 16 Mar 2006 *

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