Document Detail


A New Performance Index for the Repetitive Motion of Mobile Manipulators.
MedLine Citation:
PMID:  23757549     Owner:  NLM     Status:  Publisher    
Abstract/OtherAbstract:
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.
Authors:
Lin Xiao; Yunong Zhang
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Publication Detail:
Type:  JOURNAL ARTICLE     Date:  2013-5-07
Journal Detail:
Title:  IEEE transactions on cybernetics     Volume:  -     ISSN:  2168-2275     ISO Abbreviation:  IEEE Trans Cybern     Publication Date:  2013 May 
Date Detail:
Created Date:  2013-6-12     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  101609393     Medline TA:  IEEE Trans Cybern     Country:  -    
Other Details:
Languages:  ENG     Pagination:  -     Citation Subset:  -    
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