Control of a rover-mounted manipulator

MaRDI QIDQ4249946zbMATH OpenFDO

Authors Gilles Foulon, Jean-Yves Fourquet, Marc Renaud

Publication date 8 October 2000

zbMATH Keywords

chaos controljoint valuesmobile nonholonomic platformrobust controlsix-revolute-joint robot manipulator

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Review text

The authors develop a control algorithm for a mechanical system built from a six-revolute-joint robot manipulator mounted on a mobile nonholonomic platform. The main purpose is to construct a global control of this mechanical system which calculates the joint values for both the robot manipulator and the mobile platform. The authors use a method which poses two additional kinematic tasks, and obtain the square matrix form of the governing equations. It is proved that the end-effector of the mechanical system follows the required trajectory. The final robust control algorithm is obtained by combination of both direct inverse and pseudo-inverse methods, and is validated by a test of two chaotic subsystems. For the entire collection see [Zbl 0901.00061].

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Cited in

(1)

• Control of multimode manipulative space robot in outer space

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