Virtual Force Concept in Steering Mobile Manipulators with Skid-Steering Platform Moving in Unknown Environment

Underactuated control system, namely mobile manipulator mounted on skid-steering platform has been considered in the paper. As a control scheme the concept of virtual force is presented and discussed. In such concept, full rank of input matrix, describing relationship between controlled variables an...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2015-03, Vol.77 (3-4), p.433-443
Main Authors: Mazur, Alicja, Cholewiński, Mateusz
Format: Article
Language:English
Subjects:
Actuators
Artificial Intelligence
Computing time
Control
Electrical Engineering
Engineering
Functions (mathematics)
Manipulators
Mathematical analysis
Mathematical models
Mechanical Engineering
Mechatronics
Platforms
Robot arms
Robotics
Unknown environments
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Summary:Underactuated control system, namely mobile manipulator mounted on skid-steering platform has been considered in the paper. As a control scheme the concept of virtual force is presented and discussed. In such concept, full rank of input matrix, describing relationship between controlled variables and number of actuators, has been assumed. The signal of the assumed additional actuator is equal to zero equivalently (because this force is “virtual” and it does not exist in practice) but in this way the invertibility of input matrix can be achieved. The equation of the implicit function generates the reference signals needed in control algorithm. Mathematical proof of proper action of such control law has been presented using Lyapunov-like function. Efficiency and robustness of control scheme on parametric uncertainty of terrain, which the mobile manipulator is moving on, have been tested in numerous simulations.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-013-9878-7