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

Gülin ELİBOL SEÇİL, (Eskişehir Osmangazi Üniversitesi, Mühendislik-Mimarlık Fakültesi, Elektrik-Elektronik Mühendisliği Bölümü, Eskişehir, Türkiye)
Serhat OBUZ, (Eskişehir Osmangazi Üniversitesi, Mühendislik-Mimarlık Fakültesi, Elektrik-Elektronik Mühendisliği Bölümü, Eskişehir, Türkiye)
Osman PARLAKTUNA (Eskişehir Osmangazi Üniversitesi, Mühendislik-Mimarlık Fakültesi, Elektrik-Elektronik Mühendisliği Bölümü, Eskişehir, 26040, Türkiye)
Turkish Journal of Electrical Engineering and Computer Sciences
2 0
Yıl: 2022 Cilt: 30 Sayı: 3 Sayfa Aralığı: 785 - 804 Metin Dili: İngilizce DOI: 10.3906/elk-2106-134 İndeks Tarihi: 01-07-2022

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

Öz:
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.
Anahtar Kelime:

Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
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APA ELIBOL SECIL G, Obuz S, PARLAKTUNA O (2022). Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space. , 785 - 804. 10.3906/elk-2106-134
Chicago ELIBOL SECIL Gulin,Obuz Serhat,PARLAKTUNA OSMAN Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space. (2022): 785 - 804. 10.3906/elk-2106-134
MLA ELIBOL SECIL Gulin,Obuz Serhat,PARLAKTUNA OSMAN Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space. , 2022, ss.785 - 804. 10.3906/elk-2106-134
AMA ELIBOL SECIL G,Obuz S,PARLAKTUNA O Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space. . 2022; 785 - 804. 10.3906/elk-2106-134
Vancouver ELIBOL SECIL G,Obuz S,PARLAKTUNA O Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space. . 2022; 785 - 804. 10.3906/elk-2106-134
IEEE ELIBOL SECIL G,Obuz S,PARLAKTUNA O "Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space." , ss.785 - 804, 2022. 10.3906/elk-2106-134
ISNAD ELIBOL SECIL, Gulin vd. "Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space". (2022), 785-804. https://doi.org/10.3906/elk-2106-134
APA ELIBOL SECIL G, Obuz S, PARLAKTUNA O (2022). Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space. Turkish Journal of Electrical Engineering and Computer Sciences, 30(3), 785 - 804. 10.3906/elk-2106-134
Chicago ELIBOL SECIL Gulin,Obuz Serhat,PARLAKTUNA OSMAN Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space. Turkish Journal of Electrical Engineering and Computer Sciences 30, no.3 (2022): 785 - 804. 10.3906/elk-2106-134
MLA ELIBOL SECIL Gulin,Obuz Serhat,PARLAKTUNA OSMAN Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space. Turkish Journal of Electrical Engineering and Computer Sciences, vol.30, no.3, 2022, ss.785 - 804. 10.3906/elk-2106-134
AMA ELIBOL SECIL G,Obuz S,PARLAKTUNA O Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space. Turkish Journal of Electrical Engineering and Computer Sciences. 2022; 30(3): 785 - 804. 10.3906/elk-2106-134
Vancouver ELIBOL SECIL G,Obuz S,PARLAKTUNA O Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space. Turkish Journal of Electrical Engineering and Computer Sciences. 2022; 30(3): 785 - 804. 10.3906/elk-2106-134
IEEE ELIBOL SECIL G,Obuz S,PARLAKTUNA O "Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space." Turkish Journal of Electrical Engineering and Computer Sciences, 30, ss.785 - 804, 2022. 10.3906/elk-2106-134
ISNAD ELIBOL SECIL, Gulin vd. "Robust position/force control of nonholonomic mobile manipulator for constrained motion on surface in task space". Turkish Journal of Electrical Engineering and Computer Sciences 30/3 (2022), 785-804. https://doi.org/10.3906/elk-2106-134
Sayfa Oluşturulma Tarihi
23-04-2024 23:44

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