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vii
TABLE OF CONTENTS
CHAPTER SUBJECT PAGE
DECLARATION ii
DEDICATION iii
ACKNOWLEDGEMENTS iv
ABSTRACT v
ABSTRAK vi
TABLE OF CONTENTS vii
LIST OF TABLES xiv
LIST OF FIGURES xv
LIST OF ABBREVIATIONS xxiv
LIST OF SYMBOLS xxvi
LIST OF APPENDICES xxix
1 INTRODUCTION
1.1 General Introduction 1
1.2 Research Background 3
1.3 Problem Statements and Formulation 4
1.4 Research Objectives 6
1.5 Research Scope, Strategy and
Methodology
7
1.6 Research Contributions 10
1.7 Organization of Thesis 11
viii
2 THEORETICAL PRELIMINARIES AND
REVIEW
2.1 Introduction 14
2.2 Mobile Manipulator System 14
2.2.1 Nonholonomic Mobile Robot
System
2.2.2 Kinematic Modeling
2.2.3 Dynamic Modeling
2.2.4 Dynamics Modeling of the
Manipulator Arm
15
17
20
24
2.3 Tracking Control of Nonholonomic
Mobile Robot/Platform
26
2.4 Kinematic Control 26
2.5 Dynamic Control 29
2.6 Resolved Motion Rate Control and
Resolved Acceleration Control
30
2.7 Force Control on Mobile Manipulator 33
2.7.1 Active Force Control in Robotic
System
2.7.2 Estimation of the Inertia Matrix
Based on Crude Approximation
2.7.3 Estimation of the Inertia Matrix
Using Intelligent Schemes
34
36
37
2.8 Iterative Learning Control 38
2.9 Knowledge Based Fuzzy Control 43
2.9.1 Knowledge Based System
2.9.2 Fuzzy System
2.9.3 Knowledge Based Reasoning in
Fuzzy System
45
49
50
2.10 Conclusion 51
ix
3
MOTION CONTROL OF MOBILE
MANIPULATOR USING RESOLVED
ACCELERATION CONTROL AND
ACTIVE FORCE CONTROL
(MM-RACAFC)
3.1 Introduction 53
3.2 The Proposed MM-RACAFC Scheme 54
3.3 The Proposed RACAFC for Mobile
Platform Section
60
3.4 Simulation 62
3.4.1 Simulation Parameters
3.4.2 Simulation Diagrams
62
67
3.5 Results and Discussion 75
3.5.1 DDMR with RACAFC
3.5.2 Mobile Manipulator Control
3.5.2.1 Simulation Procedure
3.5.2.2 Optimum Kp, Kd and IN
3.5.2.3 Effect of Constant Torque
Disturbance, Qc
3.5.2.4 Effect of Impact
Disturbance, Qimp
3.5.2.5 Effect of Vibration, Qvib
75
77
78
79
80
83
85
3.6 Conclusion 87
4
MOTION CONTROL OF MOBILE
MANIPULATOR USING RESOLVED
ACCELERATION CONTROL AND
PROPORTIONAL-INTEGRAL ACTIVE
FORCE CONTROL (MM-RACPIAFC)
4.1 Introduction 88
x
4.2 The Proposed MM-RACPIAFC
Scheme
89
4.2.1 RAC Section
4.2.2 AFC Section
4.2.3 Proposed PIAFC Design
89
90
92
4.3 Simulation 93
4.4 Results and Discussion 96
4.4.1 Optimum Kp, Kd and INP and INI
4.4.2 Effects of Constant Torque
Disturbance, Qc
4.4.3 Effects of Impact Disturbance,
Qimp
4.4.4 Effects of Vibration, Qvib
97
98
100
103
4.5 Conclusion 105
5
MOTION CONTROL OF MOBILE
MANIPULATOR USING RESOLVED
ACCELERATION CONTROL AND
ITERATIVE LEARNING
PROPORTIONAL-INTEGRAL ACTIVE
FORCE CONTROL (MM-RACILPIAFC)
5.1 Introduction 106
5.2 Proposed MM-RACILAFC and MM-
RACILPIAFC Schemes
107
5.2.1 RAC Section
5.2.2 MM-RACILAFC Design
5.2.3 MM-RACILPIAFC Design
107
108
110
5.3 Simulation 112
5.4 Results and Discussion 115
5.4.1 Optimum Φ and Γ for ILAFC
5.4.2 Optimum and β for ILPIAFC
116
117
xi
5.4.3 Effect of Constant Torque
Disturbance, Qc
5.4.4 Effect of Impact Disturbance,
Qimp
5.4.5 Effect of Vibration, Qvib
117
119
121
5.5 Conclusion 123
6 MOTION CONTROL OF MOBILE
MANIPULATOR USING RESOLVED
ACCELERATION CONTROL AND
KNOWLEDGE-BASED FUZZY ACTIVE
FORCE CONTROL (MM-RACKBFAFC)
6.1 Introduction 124
6.2 The Proposed MM-RACKBFAFC
Scheme
125
6.2.1 RAC Section
6.2.2 KBFAFC Section
6.2.3 Knowledge Investigation and
Representation
6.2.4 Knowledge Acquisition and
Processing
6.2.5 KBF Design
125
126
128
135
137
6.3 Simulation 139
6.4 Results and Discussion 141
6.4.1 Effect of Constant Torque
Disturbance, Qc
6.4.2 Effect of Impact Disturbance,
Qimp
6.4.3 Effect of Vibration, Qvib
141
142
144
6.5 Conclusion 146
xii
7
COMPARATIVE STUDY OF THE AFC
SCHEMES APPLIED TO MOBILE
MANIPULATOR
7.1 Introduction 147
7.2 Specifications of the AFC Schemes 148
7.3 Simulation 149
7.4 Results and Discussion 151
7.4.1 Effect of Constant Torque
Disturbance, Qc
7.4.2 Effect of Impact Disturbance,
Qimp
7.4.3 Effect of Vibration, Qvib
7.4.4 Analysis of the Inertia Matrix
7.4.5 Analysis of the Applied Motor
Current and Torque
152
154
157
160
162
7.5 Conclusion 165
8
EXPERIMENTAL STUDY OF THE
MOBILE MANIPULATOR
8.1 Introduction 166
8.2 Limitations and Specification of the
Mobile Manipulator
167
8.3 PC-Based Controller 170
8.3.1 Computer and Data Acquisition
System (DAS) Card
8.3.2 Frequency to Voltage Converter
(f/V) Circuit
8.3.3 Rotary Encoder Circuit using
HCTL2000
171
172
173
xiii
8.3.4 Signal Conditioning Interfaces
8.3.5 Program Design
175
176
8.3.5.1 Program Flow Chart
8.3.5.2 Power System Calibration
Program Module
8.3.5.3 Program Modules
8.3.5.4 Real Time Monitor/Display
176
178
179
180
8.4 Embedded Controller using
Microcontroller PIC16F877
181
8.4.1 Circuit Diagram of the Embedded
Controller
8.4.2 Autonomous System and the
Controller Board
183
185
8.5 Experimental Results and Discussion 186
8.6 Conclusion 189
9
CONCLUSION AND
RECOMMENDATIONS
9.1 Conclusion 190
9.2 Recommendations for Future Works
191
REFERENCES 193
APPENDICES
202
xiv
LIST OF TABLES
TABLE NO.
TITLE PAGE
3.1
3.2
3.3
3.4
3.5
4.1
6.1
6.2
7.1
7.2
7.3
7.4
7.5
7.6
7.7
8.1
Mobile manipulator properties
Prescribed trajectory
Disturbances
Impact and vibration properties
Simulation methods and its parameters
TTEs of MM at vibrations for RACAFC and
RACPIAFC schemes
The knowledge representation
The inference mechanism
Specifications of the AFC schemes
Average TTEs (in mm) for all the schemes at the
arm, Qc
Average TTEs (in mm) for all the schemes at the
platform, Qc
Average TTEs (in mm) for all the schemes at the
arm, Qimp
Average TTEs (in mm) for all the schemes at the
platform, Qimp
Average TTEs (in mm) for all the schemes at the
arm, Qvib.
Average TTEs (in mm) for all the schemes at the
platform, Qvib.
Specification of the MM rig
64
65
65
66
67
104
134
135
148
153
154
156
157
159
160
168
xv
LIST OF FIGURES
FIGURE
NO.
TITLE PAGE
1.1
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2.10
2.11
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
The research strategy in a flowchart
Mobile manipulator configuration in XY Cartesian
coordinate system
An illustration of the RMRC schematic diagram
An illustration of the RMAC/RAC schematic diagram
AFC concept
RAC combined with AFC concept
P-type ILC
PD-type ILC
PI-type ILC
An illustration of a generic expert system
An illustration of KBS
An illustration of a fuzzy system
An outline of the RACAFC scheme
The proposed MM-RACAFC scheme
The MM-RAC scheme
The RAC controller
The proposed AFC controller
Schematic diagram of the proposed MM-RACAFC
The proposed AFC applied to the DDMR
DDMR trajectory
MM trajectory
8
15
31
32
35
36
39
39
40
46
47
49
54
55
55
56
56
58
61
63
63
xvi
3.10
3.11
3.12
3.13
3.14
3.15
3.16
3.17
3.18
3.19
3.20
3.21
3.22
3.23
3.24
3.25
3.26
3.27
3.28
3.29a
3.29b
3.30a
3.30b
3.31
3.32a
Impact signals
Vibration signals
The Simulink diagram of DDMR-RACAFC
The Simulink diagram of MM-RAC
The Simulink diagram of MM-RACAFC
The Simulink diagram of the input functions for MM
simulation
A Simulink diagram of the Mobile Platform Input
Function
The Simulink diagram of the Tip Position Input Function
A Simulink diagram of the RAC Controller and Inverse
Kinematics Section
A Simulink diagram of the Inverse Kinematics of the
manipulator
A Simulink diagram of the Inverse Kinematics of the
mobile platform
A Simulink diagram of Direct Kinematics of MM
A Simulink diagram of the Direct Kinematics of the
manipulator
A Simulink diagram of the Direct Kinematics of the
mobile platform
A Simulink diagram of the Performance Display section
A Simulink diagram of the Inverse Dynamics of MM
A Simulink diagram of the constraint matrix M(q)
A Simulink diagram of the manipulator’s dynamics
Results of IN tuning (the white bar indicates the optimum
value)
TTE for case with no disturbances, RAC vs. RACAFC
TTE for case with disturbances, RAC vs. RACAFC
Robot animation for the RAC scheme
Robot animation for the RACAFC scheme
A flow chart showing the simulation procedures
TTE of arm, MM-RAC, Qc
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66
67
68
68
69
69
70
70
71
71
72
72
72
73
73
74
74
76
76
76
77
77
78
81
xvii
3.32b
3.33a
3.33b
3.34
3.35a
3.35b
3.36a
3.36b
3.37a
3.37b
3.38a
3.38b
4.1
4.2
4.3
4.4a
4.4b
4.4c
4.5a
4.5b
4.5c
4.5d
4.6a
4.6b
4.6c
4.6d
4.7a
4.7b
4.7c
4.7d
4.8a
4.8b
TTE of arm, MM-RACAFC, Qc
TTE of platform, MM-RAC, Qc
TTE of platform, MM-RACAFC, Qc
The dialog box of External Disturbance Section
TTE of arm, MM-RAC at Qimp
TTE of arm, MM-RACAFC at Qimp
TTE of platform, MM-RAC at Qimp
TTE of platform, MM-RACAFC at Qimp
TTE of arm, MM-RAC at Qvib
TTE of arm, MM-RACAFC at Qvib
TTE of platform, MM-RAC at Qvib
TTE of platform, MM-RACAFC at Qvib
The proposed MM-RACPIAFC
A schematic of the AFC loop
A Simulink model of the scheme with three control
modes; RAC, RACAFC and proposed RACPIAFC
A Simulink diagram of the PIAFC
A Simulink diagram representing IN/Ktn
A Simulink diagram of the PI-IN
TTE of arm, AFC/PIAFC, Qca = [0.2;0.2;0.5;-0.5] Nm
TTE of arm, AFC/PIAFC, Qcb = [2;2;5;-5] Nm
TTE of arm, AFC/PIAFC, Qcc = [20;20;20;-20] Nm
TTE of arm, AFC/PIAFC, Qcd = [30;30;30;-30] Nm
TTE of platform, AFC/PIAFC, Qca = [0.2;0.2;0.5;-0.5] Nm
TTE of platform, AFC/PIAFC, Qcb = [2;2;5;-5] Nm
TTE of platform, AFC/PIAFC, Qcc = [20;20;20;-20] Nm
TTE of platform, AFC/PIAFC, Qcd = [30;30;30;-30] Nm
TTE of arm, AFC/PIAFC, Qimp, Qgain = 0.1
TTE of arm, AFC/PIAFC, Qimp, Qgain = 0.5
TTE of arm, AFC/PIAFC, Qimp, Qgain = 1
TTE of arm, AFC/PIAFC, Qimp, Qgain = 3
TTE of platform, AFC/PIAFC, Qimp, Qgain = 0.1
TTE of platform, AFC/PIAFC, Qimp, Qgain = 0.5
81
82
82
83
84
84
85
85
86
86
86
86
89
91
94
94
95
95
98
98
99
99
100
100
100
100
101
101
101
101
102
102
xviii
4.8c
4.8d
4.9a
4.9b
4.9c
4.9d
4.10a
4.10b
4.10c
4.10d
5.1
5.2
5.3
5.4
5.5a
5.5b
5.5c
5.6a
5.6b
5.7a
5.7b
5.7c
5.7d
5.8a
5.8b
5.8c
5.8d
5.9a
5.9b
5.9c
5.9d
TTE of platform, AFC/PIAFC, Qimp, Qgain = 1
TTE of platform, AFC/PIAFC, Qimp, Qgain = 3
TTE of arm, AFC/PIAFC, Qvib, Qgain = 0.1
TTE of arm, AFC/PIAFC, Qvib, Qgain = 0.5
TTE of arm, AFC/PIAFC, Qvib, Qgain = 1
TTE of arm, AFC/PIAFC, Qvib, Qgain = 3
TTE of platform, AFC/PIAFC, Qvib, Qgain = 0.1
TTE of platform, AFC/PIAFC, Qvib, Qgain = 0.5
TTE of platform, AFC/PIAFC, Qvib, Qgain = 1
TTE of platform, AFC/PIAFC, Qvib, Qgain = 3
The proposed MM-RACILAFC
The proposed ILPIAFC
The Simulink diagram of the proposed MM-RACILAFC
The Simulink diagram of the proposed MM-
RACILPIAFC
The Simulink diagram of the block of ILAFC
The Simulink diagram of the block ILC within the ILAFC
The Simulink diagram of the block State Space within the
ILC
The Simulink diagram of the block LPIAFC
The Simulink diagram of the block ILPI
TTE of arm, 3 schemes, Qca = [0.2;0.2;0.5;-0.5] Nm
TTE of arm, 3 schemes, Qcb = [2;2;5;-5] Nm
TTE of arm, 3 schemes, Qcc = [20;20;20;-20] Nm
TTE of arm, 3 schemes, Qcd = [30;30;30;-30] Nm
TTE of platform, 3 schemes, Qca = [0.2;0.2;0.5;-0.5] Nm
TTE of platform, 3 schemes, Qcb = [2;2;5;-5] Nm
TTE of platform, 3 schemes, Qcc = [20;20;20;-20] Nm
TTE of platform, 3 schemes, Qcd = [30;30;30;-30] Nm
TTE of arm, 3 schemes, Qimp, Qgain = 0.1
TTE of arm, 3 schemes, Qimp, Qgain = 0.5
TTE of arm, 3 schemes, Qimp, Qgain = 1
TTE of arm, 3 schemes, Qimp, Qgain = 3
102
102
103
103
103
103
104
104
105
105
108
110
112
113
113
114
114
114
115
118
118
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119
119
119
119
120
120
120
120
xix
5.10a
5.10b
5.10c
5.10d
5.11a
5.11b
5.11c
5.11d
6.1
6.2
6.3
6.4
6.5a
6.5b
6.5c
6.6a
6.6b
6.6c
6.7a
6.7b
6.7c
6.7d
6.8a
6.8b
TTE of arm, 3 schemes, Qvib, Qgain = 0.1
TTE of arm, 3 schemes, Qvib, Qgain = 0.5
TTE of arm, 3 schemes, Qvib, Qgain = 1
TTE of arm, 3 schemes, Qvib, Qgain = 3
TTE of platform, 3 schemes, Qvib, Qgain = 0.1
TTE of platform, 3 schemes, Qvib, Qgain = 0.5
TTE of platform, 3 schemes, Qvib, Qgain = 1
TTE of platform, 3 schemes, Qvib, Qgain = 3
The proposed MM-RACKBFAFC
An illustration of the global knowledge of mobile
manipulators
The selected semantic networks of the MM’s knowledge
structure
The qualitative investigation in a semantic network
Trajectory tracking of the mobile manipulator
The track error at the tip end position for five cycles of
repeating tasks in the simulation
The track error at the tip end position for four cycles of
repeating tasks in the experiment
Angular velocity and TTE relationship for RACAFC
with constant torque disturbance (Qcc = [20;20;-20;20]
Nm)
Angular velocity and TTE relationship for RACAFC
with impact disturbance (Qgain = 1)
Angular velocity and TTE relationship for RACAFC
with vibration (Qgain = 0.5)
Angular velocity signal as input of KBF for manipulator
Expected IN signal as output of KBF for manipulator
Angular velocity signal as input of KBF for platform
Expected IN signal as output of KBF for platform
MFs of input of joint-1 and joint-2
MFs of output of joint-1 and joint-2
121
121
121
121
122
122
122
122
125
128
129
130
131
131
131
133
133
134
136
136
136
136
138
138
xx
6.8c
6.8d
6.9
6.10a
6.10b
6.11a
6.11b
6.11c
6.11d
6.12a
6.12b
6.12c
6.12d
6.13a
6.13b
6.13c
6.13d
6.14a
6.14b
6.14c
6.14d
6.15a
6.15b
6.15c
6.15d
7.1
7.2
7.3
7.4
MFs of input of wheel-L and wheel-R
MFs of output of wheel-L and wheel-R
The Simulink diagram of the proposed MM-
RACKBFAFC
The Simulink diagram of the block of KBFAFC
The Simulink diagram of the KBF System block
TTE of arm, AFC/KBFAFC, Qca = [2;2;5;-5] Nm
TTE of arm, AFC/KBFAFC, Qcb = [30;30;30;-30] Nm
TTE of platform, AFC/KBFAFC, Qcc = [2;2;5;-5] Nm
TTE of platform, AFC/KBFAFC, Qcd = [30;30;30;-30] Nm
TTE of arm, AFC/KBFAFC, Qimp, Qgain = 0.1
TTE of arm, AFC/KBFAFC, Qimp, Qgain = 0.5
TTE of arm, AFC/KBFAFC, Qimp, Qgain = 1
TTE of arm, AFC/KBFAFC, Qimp, Qgain = 3
TTE of platform, AFC/KBFAFC, Qimp, Qgain = 0.1
TTE of platform, AFC/KBFAFC, Qimp, Qgain = 0.5
TTE of platform, AFC/KBFAFC, Qimp, Qgain = 1
TTE of platform, AFC/KBFAFC, Qimp, Qgain = 3
TTE of arm, AFC/KBFAFC, Qvib, Qgain = 0.1
TTE of arm, AFC/KBFAFC, Qvib, Qgain = 0.5
TTE of arm, AFC/KBFAFC, Qvib, Qgain = 1
TTE of arm, AFC/KBFAFC, Qvib, Qgain = 3
TTE of platform, AFC/KBFAFC, Qvib, Qgain = 0.1
TTE of platform, AFC/KBFAFC, Qvib, Qgain = 0.5
TTE of platform, AFC/KBFAFC, Qvib, Qgain = 1
TTE of platform, AFC/KBFAFC, Qvib, Qgain = 3
Simulink diagram of the master scheme involving all the
five methods
A Simulink diagram showing the main mechanisms of the
five AFC methods
The dialog box of the AFC-PIAFC-ILAFC-ILPIAFC-
KBFAFC block
The dialog box of the External Disturbances block
138
138
139
140
140
142
142
142
142
143
143
143
143
144
144
144
144
145
145
145
145
145
145
146
146
149
149
150
151
xxi
7.5a
7.5b
7.5c
7.5d
7.6a
7.6b
7.6c
7.6d
7.7a
7.7b
7.7c
7.7d
7.8a
7.8b
7.8c
7.8d
7.9a
7.9b
7.9c
7.9d
7.10a
7.10b
7.10c
7.10d
7.11a
7.11b
7.11c
7.11d
7.12a
7.12b
7.12c
7.12d
7.13a
TTE of arm, all schemes, Qca = [0.2;0.2;0.5;-0.5] Nm
TTE of arm, all schemes, Qcb = [2;2;5;-5] Nm
TTE of arm, all schemes, Qcc = [20;20;20;-20] Nm
TTE of arm, all schemes, Qcd = [30;30;30;-30] Nm
TTE of platform, all schemes, Qca = [0.2;0.2;0.5;-0.5] Nm
TTE of platform, all schemes, Qcb = [2;2;5;-5] Nm
TTE of platform, all schemes, Qcc = [20;20;20;-20] Nm
TTE of platform, all schemes, Qcd = [30;30;30;-30] Nm
TTE of arm, all schemes, Qimp, Qgain = 0.1
TTE of arm, all schemes, Qimp, Qgain = 0.5
TTE of arm, all schemes, Qimp, Qgain = 1
TTE of arm, all schemes, Qimp, Qgain = 3
TTE of platform, all schemes, Qimp, Qgain = 0.1
TTE of platform, all schemes, Qimp, Qgain = 0.5
TTE of platform, all schemes, Qimp, Qgain = 1
TTE of platform, all schemes, Qimp, Qgain = 3
TTE of arm, all schemes, Qvib, Qgain = 0.1
TTE of arm, all schemes, Qvib, Qgain = 0.5
TTE of arm, all schemes, Qvib, Qgain = 1
TTE of arm, all schemes, Qvib, Qgain = 3
TTE of platform, all schemes, Qvib, Qgain = 0.1
TTE of platform, all schemes, Qvib, Qgain = 0.5
TTE of platform, all schemes, Qvib, Qgain = 1
TTE of platform, all schemes, Qvib, Qgain = 3
IN1 (joint-1), 3 schemes, Qimp, Qgain = 3
IN2 (joint-2), 3 schemes, Qimp, Qgain = 3
INL (wheel-L), 3 schemes, Qimp, Qgain = 3
INR (wheel-R), 3 schemes, Qimp, Qgain = 3
IN1 (joint-1), 3 schemes, Qvib, Qgain = 3
IN2 (joint-2), 3 schemes, Qvib, Qgain = 3
INL (wheel-L), 3 schemes, Qvib, Qgain = 3
INR (wheel-R), 3 schemes, Qvib, Qgain = 3
Ic1 (joint-1), all schemes, Qimp, Qgain = 3
152
152
152
152
153
153
154
154
155
155
155
155
156
156
156
156
158
158
158
158
159
159
159
159
161
161
161
161
162
162
162
162
163
xxii
7.13b
7.13c
7.13d
7.13e
7.13f
7.13g
7.13h
8.1a
8.1b
8.1c
8.2
8.3
8.4
8.5
8.6
8.7
8.8
8.9
8.10
8.11
8.12
8.13
8.14
8.15
8.16a
8.16b
8.16c
8.16d
8.17
8.18
Tq1 (joint-1), all schemes, Qimp, Qgain = 3
Ic2 (joint-2), all schemes, Qimp, Qgain = 3
Tq1 (joint-2), all schemes, Qimp, Qgain = 3
IcL (wheel-L), all schemes, Qimp, Qgain = 3
TqL (wheel-L),all schemes, Qimp, Qgain = 3
IcR (wheel-R), all schemes, Qimp, Qgain = 3
TqR (wheel-R),all schemes, Qimp, Qgain = 3
Isometric view of the mobile manipulator
The complete experimental MM rig
The improved gripper design
The experimental set-up for PC-based controller
Schematic diagram of the PC based controller
Two units of DAS1602 on the CPU Board
Frequency to Voltage Converter circuit
HCTL2000 based Rotary Encoder Signal Conditioner
Signal conditioning interface for the mobile platform
Signal conditioning interface for the manipulator
Flow chart of the PC-based program design
The display of the calibration process of the program
MMH852.EXE
Program module main()
A Real Time Monitor display captured from the PC
monitor
Specification of the autonomous mobile manipulator
Pins configuration of PIC16F877
Circuit diagram of PIC16F877 based controller
Autonomous mobile manipulator
The mounting of the embedded controller
A close-up view of the PIC 16F877 based embedded
controller
Power supply unit for the embedded controller
Experimental results of the RACAFC scheme
Experimental results of the RACKBFAFC scheme
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164
164
164
164
164
164
169
169
169
170
170
171
173
174
175
176
177
179
179
181
182
183
184
185
185
186
186
187
187
xxiii
8.19
8.20
8.21
Tracking error of the arm for RACAFC and
RACKBFAFC schemes during the experiment
Actual acceleration at the joints, RACAFC and
RACKBFAFC
Actual current at motors of
the joints, RACAFC and RACKBFAFC
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188
188
xxiv
LIST OF ABBREVIATIONS
ADC
AFC
AI
D
DAC
DDMR
FS
I
IL
ILAFC
ILC
ILPI
ILPIAFC
KBF
KBFAFC
KBS
MF
MM
MMAFCON
P
PC
PD
PI
PIAFC
PIC
Analog to Digital Converter
Active Force Control
Artificial Intelligence
Derivative
Digital to Analog Converter
Differentially Driven Mobile Robot
Fuzzy System
Integral
Iterative Learning
Iterative Learning Active Force Control
Iterative Learning Control
Iterative Learning Proportional Integral
Iterative Learning Proportional Integral Active Force
Control
Knowledge Based Fuzzy
Knowledge Based Fuzzy Active Force Control
Knowledge Based System
Membership of Function
Mobile Manipulator
Mobile Manipulator Active Force Control Online
Proportional
Personal Computer
Proportional Derivative
Proportional Integral
Proportional Integral Active Force Control
Programmable Interface Controller
xxv
RAC
RACAFC
RACILAFC
RACILPIAFC
RACKBFAFC
RACPIAFC
RMAC
RMRC
TTE
Resolved Acceleration Control
Resolved Acceleration Control - Active Force Control
Resolved Acceleration Control - Iterative Learning Active
Force Control
Resolved Acceleration Control - Iterative Learning
Proportional Integral Active Force Control
Resolved Acceleration Control - Knowledge Based Fuzzy
Active Force Control
Resolved Acceleration Control - Proportional Integral
Active Force Control
Resolved Motion Acceleration Control
Resolved Motion Rate Control
Trajectory Tracking Error
xxvi
LIST OF SYMBOLS
SYMBOL
SUBJECT
)(qA
)(qB
β
b
),( qqC &
d
),( qqF &
g
G(s)
Gc(s)
H(s)
h
I
I′
Im
mI ′
Ic
IN, IN
IN′
Proportional constant of ILPIAFC scheme
Constraint matrix
Input transformation matrix
Integral constant of ILPIAFC scheme
Half width of the robot
Centripetal and Coriolis matrix
the distance of point G to F of mobile manipulator
Friction and gravitational vector
Acceleration due to gravity (m/s2)
A function in La place domain representing the
feedforward gain in the AFC loop
A function in La place domain representing the
controller gain
A function in Laplace domain representing the
compensated gain in the AFC loop
Vector of the Coriolis and centrifugal torques
Inertia
Estimated inertia
Motor current
Measured motor current Applied motor current
Inertia matrix
Estimated inertia matrix
xxvii
INF
INI
INIF
INIL
INinit
INIV
INKBF
INP
INPF
INPV
INRACAFC
J
Kp
Kd
KpRACAFC
KdRACAFC
Ktn rℜ∈λ
Γ
M(q)
m
Φ
Q
Q′
Q*
Qc
Qca
Qcb
Qcc
Qcd
Qgain
Qimp
Qvib
Fixed IN
Integral IN
Fixed integral IN
Estimated inertia matrix from learning process
Initial IN
Varied integral IN
Knowledge-based fuzzy IN
Proportional IN
Fixed proportional IN
Varied proportional IN
Fixed (crude) IN of RACAFC scheme
Jacobian
Proportional constant
Derivative constant
Proportional constant for RACAFC scheme
Derivative constant for RACAFC scheme
Motor constant
Lagrange multiplier
Derivative constant for ILAFC scheme
Symmetric and positive definite inertia matrix
Mass
Proportional constant for ILAFC scheme
Bounded (known/unknown) disturbance
Measured disturbance
Estimated disturbance
Constant torque disturbance
Qc of [0.2 0.2 0.5 -0.5]T Nm
Qc of [2 2 5 -5]T Nm
Qc of [20 20 20 -20]T Nm
Qc of [30 30 30 -30]T Nm
Scaling factor for impact and vibration
Impact disturbance
Vibration disturbance
xxviii
pq ℜ∈
r
)(qS
θ
θ&
θ&&
θ ′&&
refθ
refθ&
refθ&&
actθ
actθ&
actθ&&
Tq
φ
p generalized coordinate
radius of wheel
Transformation matrix
Angular position
Angular velocity
Angular acceleration
Measured angular acceleration
Reference angular position
Reference angular velocity
Reference angular acceleration
Actual angular position
Actual angular velocity
Actual angular acceleration Torque
Applied torque
Heading angle of platform
xxix
LIST OF APPENDICES
APPENDIX
TITLE PAGE
A
B
C
D
E
F
G
H
LIST OF PUBLICATIONS
PROPERTIES OF MOBILE ANIPULATOR
EQUATIONS
ACCELEROMETER ADXL 105
DC MOTOR VEXTA AXH SERIES
DATA ACQUISITION SYSTEM DAS 1602
CARD
LM2907 DATA SHEET
PIC16F877 DATA SHEET
LISTING PROGRAM MODULES
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204
206
214
221
226
232
238
