Abstract
This work proposes an algorithm besides output feedback linearization method for controlling a wheeled mobile robot with two manipulators. To control such a mobile robot, three desired trajectories (or fixed points for regulation) are needed: two for the arms and one for the base. Improper choice in base path leads to singularity, low performance and failure. To prevent singularities and to attain a smooth motion, an algorithm is introduced as a local path planning process for the base. It consists of two parts which helps the robot to maintain the desired configuration. The first part of the algorithm mainly focuses on the position and orientation of the base in future time based on the arms configuration, and the second part adjusts the movement of the arms for obtaining a consistent motion. This maintenance reduces and preserves the norm of applied torques, which consequently leads to an increase in the performance of the robot and its dynamic load carrying capacity (DLCC). Also, it is no longer required to define a trajectory or an end point for the base movement since they will be calculated automatically by the algorithm.
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M. Habibnejad Korayem was born in Tehran Iran on April 21, 1961. He received his B.S. (Hon) and M.S. in Mechanical Engineering from the Amirkabir University of Technology in 1985 and 1987, respectively. He has obtained his Ph.D. degree in mechanical engineering from the University of Wollongong, Australia, in 1994. He is a Professor in mechanical engineering at the Iran University of Science and Technology. He has been involved with teaching and research activities in the robotics areas at the Iran University of Science and Technology for the last 19 years. His research interests include dynamics of elastic mechanical manipulators, trajectory optimization, symbolic modeling, robotic multimedia software, mobile robots, industrial robotics standard, robot vision, soccer robot, and the analysis of mechanical manipulator with maximum load carrying capacity. He has published more than 550 papers in international journal and conference in the robotic area.
Ramin Abbasi Esfeden Received B.S. degree from Iran university of Science and Technology in Mechanical Engineering in 2013. Currently he is studying Master of science in Mechanical Engineering in KU Leuven. His research interests include Robot Dynamics and Control.
Saeed Rafee Nekoo was born in Tehran Iran in 1984. He received the Associate of Mechanical Engineering degree from Jabbarian Technical Junior College of Hamedan in 2004, the B.S. in Mechanical Engineering from the Azad University of Tehran, South Branch in 2007 and M.S. from Iran University of Science and Technology in 2010. He launched his Ph.D. course in 2011 and is presently pursuing it in School of Mechanical Engineering at Iran University of Science and Technology. His current research and interests include: robotics, nonlinear and optimal control, control engineering, manufacturing and mechatronics systems.
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Korayem, M.H., Esfeden, R.A. & Nekoo, S.R. Path planning algorithm in wheeled mobile manipulators based on motion of arms. J Mech Sci Technol 29, 1753–1763 (2015). https://doi.org/10.1007/s12206-015-0349-x
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DOI: https://doi.org/10.1007/s12206-015-0349-x