Fundamentals in Modeling and Control of Mobile Manipulators

ISBN-13: 9781466580411 / Angielski / Twarda / 2013 / 296 str.

Zhijun Li; Shuzhi Sam Ge

Opis

Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design. However, advances in nonlinear system analysis and control system design offer powerful tools and concepts for the control of mobile manipulator systems. Fundamentals in Modeling and Control of Mobile Manipulators presents a thorough theoretical treatment of several fundamental problems for mobile robotic manipulators. The book integrates fresh concepts and state-of-the-art results to systematically examine kinematics and dynamics, motion generation, feedback control, coordination, and cooperation. From this treatment, the authors form a basic theoretical framework for a mobile robotic manipulator that extends the theory of nonlinear control and applies to more realistic problems. Drawing on their research over the past ten years, the authors propose novel control theory concepts and techniques to tackle key problems. Topics covered include kinematic and dynamic modeling, control of nonholonomic systems, path planning that considers motion and manipulation, hybrid motion/force control and hybrid position/force control where the mobile manipulator is required to interact with environments, and coordination and cooperation strategies for multiple mobile manipulators. The book also includes practical examples of applications in engineering systems. This timely book investigates important scientific and engineering issues for researchers and engineers working with either single or multiple mobile manipulators for larger operational space, better cooperation, and improved productivity.

Spis treści

Introduction: Mobile Manipulator Systems. Background and Motivations. Outline of the Book. Kinematics and Dynamics: Introduction. Kinematics of Mobile Platform. Kinematics of Robotic Manipulators. Dynamics of Mobile Manipulators. Dynamics in Cartesian Space. Conclusion. Path Planning and Motion Generation: Path Planning of Mobile Manipulators. Path Planning of Coordinated Mobile Manipulators. Conclusion. Model-Based Control: Introduction. System Description. Model Reference Control. Simulation Studies. Conclusion. Adaptive Robust Hybrid Motion/Force Control: Adaptive Robust Hybrid Motion/Force Control. Adaptive Robust Output-feedback Control with Actuator Dynamics. Adaptive Robust Hybrid Position/Force Control. Conclusion. Under-actuated Control: Introduction. System Description. High-gain Observer. Adaptive Output Feedback Control. Simulation Studies. Conclusion. Coordination Control: Centralized Coordination Control. Decentralized Coordination. Conclusion. Cooperation Control: Introduction. Description of Interconnected System. Centralized Robust Adaptive Controls Design. Simulation Studies. Conclusion. Appendix: Example of 2-DOF Wheeled Mobile Manipulator. Example of 3-DOF Mobile Manipulator. Bibliography. Index.