Osman PARLAKTUNA, Gülin ELİBOL SEÇİL, Serhat OBUZ

Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space

In this paper, a robust controller is developed for a mobile manipulator (MM) to track reference position/force trajectories. Nonholonomic and holonomic constraints are considered for the mobile platform and manipulator, respectively. Additionally, the control design considers the uncertainties in parameters of the dynamics of the mobile manipulator with a bounded time varying additive disturbance (unmodelled effects, external disturbances). A Lyapunov-based stability analysis is used to prove semiglobal uniform ultimate boundedness of the tracking error signals and the position/force of the system track to an arbitrarily small neighborhood of the reference trajectories. Numerical results for a mobile manipulator, which is formed from a differential drive mobile platform and 2 DOF Revolute-Revolute (RR) manipulator, show that the position of the end-effector and the applied force track the desired position and the force trajectories, respectively.

PDF

___

[1] Kumar N, Panwar V, Sukavanam N, Sharma SP, Borm JH. Neural network-based nonlinear tracking control of kinematically redundant robot manipulators. Mathematical and Computer Modelling 2011; 53 (9):1889-1901.
[2] Ghajar MH, Keshmiri M, Bahrami J. Neural-network-based robust hybrid force/position controller for a constrained robot manipulator with uncertainties. Transactions of the Institute of Measurement and Control 2018; 40 (5):1625- 1636.
[3] Yu L, Fei S, Sun L, Huang J, Yang G. Design of Robust Adaptive Neural Switching Controller for Robotic Manipulators with Uncertainty and Disturbances. Journal of Intelligent and Robotic Systems 2015; 77:571-581.
[4] Braaksma J, Klaassens B, Babuska R, de Keizer C. Hybrid control design for a robot manipulator in a shield tunneling machine. Informatics in Control, Automation and Robotics I 2006; 143-150.
[5] Yim W, Singh SN. Feedback Linearization of Differential-Algebraic Systems and Force and Position Control of Manipulators. In: 1993 American Control Conference; 1993. pp. 2279-2283.
[6] Wei B. Adaptive Control Design and Stability Analysis of Robotic Manipulators. Actuators 2018; 7 (4).
[7] Tuan DM, Hieu PD. Adaptive Position/Force Control for Robot Manipulators Using Force and Velocity Observer. Journal of Electrical Engineering & Technology 2019; 14 (6):2575-2582.
[8] Lozano R, Brogliato B. Adaptive hybrid force-position control for redundant manipulators. IEEE Transactions on Automatic Control 1992; 37 (10):1501-1505.
[9] De Queiroz MS, Hu J, Dawson DM, Burg T, Donepudi SR. Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) 1997; 27 (5):796-809.
[10] Chwa D. Tracking Control of Differential-Drive Wheeled Mobile Robots Using a Backstepping-Like Feedback Linearization. IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans 2010; 40 (6):1285-1295.
[11] Pourboghrat F, Karlsson MP. Adaptive control of dynamic mobile robots with nonholonomic constraints. Computers & Electrical Engineering 2002; 28 (4):241 - 253.
[12] Dixon WE, Dawson DM, Zhang F, Zergeroglu E. Global exponential tracking control of a mobile robot system via a PE condition. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) 2000; 30 (1):129-142.
[13] Fierro R, Lewis FL. Control of a nonholonomic mobile robot using neural networks. IEEE Transactions on Neural Networks 1998; 9 (4):589-600.
[14] Yang JM, Kim JH. Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots. IEEE Transactions on Robotics and Automation 1999; 15 (3):578-587.
[15] Dixon WE, Dawson DM, Zergeroglu E, Zhang F. Robust tracking and regulation control for mobile robots. International Journal of Robust and Nonlinear Control 2000; 10 (4):199-216.
[16] Venator E, Lee GS, Newman W. Hardware and software architecture of ABBY: An industrial mobile manipulator. In: 2013 IEEE International Conference on Automation Science and Engineering (CASE); 2013. pp. 324-329.
[17] Hvilshøj M, Bøgh S. “Little Helper” — An Autonomous Industrial Mobile Manipulator Concept. International Journal of Advanced Robotic Systems 2011; 8 (2):15.
[18] Engemann H, Du S, Kallweit S, Cönen P, Dawar H. OMNIVIL—An Autonomous Mobile Manipulator for Flexible Production. Sensors 2020; 20 (24):7249.
[19] Hvilshøj M, Bøgh S, Nielsen OS, Madsen O. Autonomous industrial mobile manipulation (AIMM): past, present and future. Industrial Robot: An International Journal 2012.
[20] Yang M, Yang E, Zante RC, Post M, Liu X. Collaborative mobile industrial manipulator: A review of system architecture and applications. In: 2019 25th International Conference on Automation and Computing (ICAC); 2019. pp. 1-6.
[21] Cheng H, Chen H, Liu Y. Object handling using autonomous industrial mobile manipulator. In: 2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems; 2013. pp. 36-41.
[22] Zhou K, Ebenhofer G, Eitzinger C, Zimmermann U, Walter C et al. Mobile manipulator is coming to aerospace manufacturing industry. In: 2014 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Proceedings; 2014. pp. 94-99.
[23] Li Z, Ge SS. Fundamentals in Modeling and Control of Mobile Manipulators. CRC Press, 2013.
[24] Kaczmarek M, Domski W, Mazur A. Position-force control of mobile manipulator nonadaptive and adaptive case. Archives of Control Sciences 2017; 27(4):487–503.
[25] Tzafestas SG. Introduction to Mobile Robot Control. Elsevier, 2014.
[26] Tan J, Xi N. Unified model approach for planning and control of mobile manipulators. In: Proceedings 2001 ICRA IEEE International Conference on Robotics and Automation; 2001. volume 3, pp. 3145-3152.
[27] Li Z, Ge S, Adams M, Wijesoma W. Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators. Automatica 2008; 44:776-784.
[28] Li Z, Ge SS, Adams M, Wijesoma WS. Adaptive Robust Output-Feedback Motion/Force Control of Electrically Driven Nonholonomic Mobile Manipulators. IEEE Transactions on Control Systems Technology 2008; 16(6):1308- 1315.
[29] Li Z, Ge SS, Ming A. Adaptive Robust Motion/Force Control of Holonomic-Constrained Nonholonomic Mobile Manipulators. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) 2007; 37(3):607-616.
[30] Rani M, Kumar N, Singh HP. Efficient position/force control of constrained mobile manipulators. International Journal of Dynamics and Control 2018; 6:1629–1638.
[31] Kumar N, Rani M. Motion/Force Control for the Constrained Electrically Driven Mobile Manipulators Based on Hybrid Backstepping Control Approach. In: Soft Computing: Theories and Applications. Advances in Intelligent Systems and Computing, Springer, Singapore; 2022. volume 1380 pp. 447-458. doi: doi.org/10.1007/978-981-16- 1740-9_36
[32] Makkar C, Hu G, Sawyer WG, Dixon WE. Lyapunov-Based Tracking Control in the Presence of Uncertain Nonlinear Parameterizable Friction. IEEE Transactions on Automatic Control 2007; 52 (10):1988-1994.
[33] Wang ZP, Ge SS, Lee TH. Motion/force control of uncertain constrained nonholonomic mobile manipulator using neural network approximation. In: IEEE Conference on Computer Aided Control System Design; 2006. pp. 2343- 2348.
[34] Dawson DM, Lewis FL, Dorsey JF. Robust Force Control of a Robot Manipulator. The International Journal of Robotics Research 1992; 11 (4):312-319.
[35] Yamamoto Y, Yun X. Modeling and compensation of the dynamic interaction of a mobile manipulator. In: Proceedings of the IEEE International Conference on Robotics and Automation; 1994. volume 3, pp. 2187-2192.
[36] Kwan C, Lewis FL, Dawson DM. Robust neural-network control of rigid-link electrically driven robots. IEEE Transactions on Neural Networks 1998; 9 (4):581-588.
[37] Qu Z, Dawson DM, Dorsey JF, Duffie JD. Robust estimation and control of robotic manipulators. Robotica 1995; 13 (3):223-231.
[38] Lewis FL, Dawson DM, Abdallah CT. Robot manipulator control: theory and practice. CRC Press, 2003.
[39] Dixon WE, Behal A, Dawson DM, Nagarkatti SP. Nonlinear Control of Engineering Systems A Lyapunov-Based Approach, Springer, 2003.
[40] Dong W, Huo W. Tracking control of wheeled mobile robots with unknown dynamics. In: Proceedings IEEE International Conference on Robotics and Automation; 1999. volume 4, pp. 2645-2650.
[41] Murray RM, Li Z, Sastry SS. A Mathematical Introduction to Robotic Manipulation. CRC Press, 1994.
[42] McClamroch NH, Wang D. Feedback stabilization and tracking of constrained robots. IEEE Transactions on Automatic Control 1988; 33 (5):419-426.
[43] Dawson DM, Bridges MM, Qu Z, Jamshidi M. Nonlinear Control of Robotic Systems for Environmental Waste and Restoration. Prentice-Hall, Inc., 1995.
[44] Wu Y, Hu Y. Kinematics, dynamics and motion planning of wheeled mobile manipulators. Pro of Int on CSIMTA 2004; 4:221-226.
[45] Doukhi O, Fayjie AR, Lee DJ. Intelligent controller design for quad-rotor stabilization in presence of parameter variations, Journal of Advanced Transportation 2017; 2017.
[46] Zhao B, Tang Y, Wu C, Du W. Vision-based tracking control of quadrotor with backstepping sliding mode control. IEEE Access 2018; 6:72439-72448.
[47] Zhou L, Tzoumas V, Pappas GJ, Tokekar P. Resilient active target tracking with multiple robots. IEEE Robotics and Automation Letters 2018; 4 (1):129-136.