DocumentCode :
581308
Title :
Multilayer scheme for the adaptive cooperative coordinated control of mobile manipulators
Author :
Andaluz, Víctor H. ; Canseco, Paúl A. ; Rosales, Andrés ; Roberti, Flavio ; Carelli, Ricardo
Author_Institution :
Fac. de Inf. y Electron., Escuela Super. Politec. de Chimborazo, Chimborazo, Ecuador
fYear :
2012
fDate :
25-28 Oct. 2012
Firstpage :
2737
Lastpage :
2743
Abstract :
This paper presents a multi-layer scheme for the adaptive cooperative coordinated control of mobile manipulator robots. Each layer works as an independent module, dealing with a specific part of the problem of cooperation, coordination and adaptation, thus giving more flexibility to the scheme. The adaptive dynamic compensation layer is capable of updating the estimated parameters for all robots, which are directly related to physical parameters of each mobile manipulator. Also, the redundancy of the mobile manipulators is used for the avoidance of obstacles by the mobile platforms - without deforming the virtual structure and maintaining its desired trajectory - and the singular configuration prevention through the system´s manipulability control. Stability and robustness are proved by using Lyapunov´s method. Simulation results show a good performance of the proposed multi-layer scheme as proved by the theoretical design.
Keywords :
Lyapunov methods; adaptive control; manipulators; mobile robots; parameter estimation; Lyapunov method; adaptive cooperative coordinated control; adaptive dynamic compensation layer; manipulability control; mobile manipulator robots; multilayer scheme; parameter estimation; virtual structure; Kinematics; Manipulator dynamics; Mobile communication; Robot kinematics; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Montreal, QC
ISSN :
1553-572X
Print_ISBN :
978-1-4673-2419-9
Electronic_ISBN :
1553-572X
Type :
conf
DOI :
10.1109/IECON.2012.6389144
Filename :
6389144
Link To Document :
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