Paper Info
Title
A new performance index for the repetitive motion of mobile manipulators.
Abstract
A mobile manipulator is a robotic device composed of a mobile platform and a stationary manipulator fixed to the platform. To achieve the repetitive motion control of mobile manipulators, the mobile platform and the manipulator have to realize the repetitive motion simultaneously. To do so, a novel quadratic performance index is, for the first time, designed and presented in this paper, of which the effectiveness is analyzed by following a neural dynamics method. Then, a repetitive motion scheme is proposed by combining the criterion, physical constraints, and integrated kinematical equations of mobile manipulators, which is further reformulated as a quadratic programming (QP) subject to equality and bound constraints. In addition, two important Bridge theorems are established to prove that such a QP can be converted equivalently into a linear variational inequality, and then equivalently into a piecewise-linear projection equation (PLPE). A real-time numerical algorithm based on PLPE is thus developed and applied for the online solution of the resultant QP. Two tracking-path tasks demonstrate the effectiveness and accuracy of the repetitive motion scheme. In addition, comparisons between the nonrepetitive and repetitive motion further validate the superiority and novelty of the proposed scheme.
Year
DOI
Venue
2014
10.1109/TCYB.2013.2253461
IEEE T. Cybernetics
Keywords
DocType
Volume
neural dynamics,quadratic programming (qp),mobile platform,quadratic performance index,plpe,physical constraints,motion control,quadratic programming,integrated kinematical equations,neurocontrollers,tracking-path tasks,bridge theorems,qp,numerical analysis,repetitive motion control,stationary manipulator,repetitive motion scheme,robotic device,piecewise-linear projection equation,neural dynamics method,performance index,linear variational inequality,nonrepetitive motion,real-time numerical algorithm,piecewise linear techniques,manipulator kinematics,mobile manipulators,bound constraints,equality constraints
Journal
44
Issue
ISSN
Citations 
2
2168-2275
25
PageRank 
References 
Authors
0.75
22
2
Name
Order
Citations
PageRank
Lin Xiao156242.84
Yunong Zhang22344162.43