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Intelligent compliant force/motion control of nonholonomic mobile manipulator working on the nonrigid surface

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Abstract

The task under consideration is to control a mobile manipulator for the class of nonrigid constrained motion. The working surface is deformable. The geometric and physical model of the surface is unknown and all contact force is nonlinear and difficult to model. To accomplish a task of this kind, we propose a force/motion fuzzy controller based on the philosophy of the parallel approach in two decoupled subspaces. In one subspace, we control the constant contact force normal to the surface and estimate the end-effector tool’s deformable depth of the surface; in the other, we keep the end-effector’s constant velocity parallel to the tangential plane of the surface and suppress the tangential force of the surface deformation. The nonholonomic mobile base is utilized to avoid the singularity. Stability is established and conditions for the control parameters are derived. Performance of the proposed controller is verified through computer simulations compared with the model-based control.

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Acknowledgements

We thank Prof. Shuzhi Sam, Ge, National University of Singapore, for his helpful direction, discussions and feedback on our work.

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Authors and Affiliations

  1. Department of Mechanical & Control Engineering, The University of Electro-Communications, 1-5-1,Chofugaoka, Chofu-Shi, Tokyo, 182-8585, Japan

    Zhijun Li, Aiguo Ming, Chunquan Xu & Makoto Shimojo

  2. College of Automation, Chongqing University, Chongqing, People’s Republic of China

    Jiangong Gu

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  1. Zhijun Li
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  2. Jiangong Gu
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  3. Aiguo Ming
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  4. Chunquan Xu
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  5. Makoto Shimojo
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Correspondence to Zhijun Li.

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Li, Z., Gu, J., Ming, A. et al. Intelligent compliant force/motion control of nonholonomic mobile manipulator working on the nonrigid surface. Neural Comput & Applic 15, 204–216 (2006). https://doi.org/10.1007/s00521-005-0021-y

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  • DOI: https://doi.org/10.1007/s00521-005-0021-y

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