Ahmed El-Shenawy1, Alaa Faisal1, Ezz Eldin Zakzouk1

Year 2015, Volume: 3 Issue: 3, 165 - 171, 29.06.2015

Ahmed El-shenawy , Alaa Faisal Ezz El-din Zakzouk

https://doi.org/10.18100/ijamec.05173

Abstract

Stabilizing the End-effector of a Mobile Manipulator Using Kinematics Modeling

Abstract

This paper proposes a kinematics system to stabilize and end effectors of a manipulator connected on a wheeled mobile platform. The idea to connect hybridlly two different robotics systems, serial and parallel kinematics robotics systems. The inverse and forward kinematics is modeled for the wheeled platform on the velocity level, while for the manipulator the kinematics are modeled with respect to the position. For connecting both kinematics configuration, the end-effector and the robot co-ordinates were transformed to the floor co-ordinates. Simulation system was created to check the feasibility of the solution. Four simulation examples were used to test the performance of the Kinematics control based solution. The simulation result showed the feasibility and acceptable responses of the system. In addition to, a workspace on the end-effector degrees of freedom was defined and the simulation results showed the effect of violating its limits. The practical results show performance of the hardware setup to stabilize the end effector with acceptable results.

Keywords

Kinematics, Modeling, Control, Robotics

References

• -
• Sajjad Yaghoubi, , Maryam Irani Asl, ” Autonomous Robots for Agricultural Tasks and Farm Assignment and Future Trends in Agro Robots,” International Journal of Mechanical and Mechatronics Engineering),Vol:13, 2013.
• Richard Gross , ” Dynamic Positioning and WROVs: A Productive
• CONFERENCE), California U.S.A, 2004.
• Ahmed El-Shenawy, Achim Wagner, Peter Pott, Ralf Gundling,
• Badreddin,”Disturbance Attenuation of a Handheld Parallel Robot ,” 2013 IEEE International Conference on Robotics and Automation (ICRA,Karlsruhe, Germany),2013.
• Yangmin Li, Yugang Liu,”Hyprid kinematics and stability analysis for the mobile modular manipulator ,” Procedings of Robotics and Remot Systems, 2004. Dimitris
• Rive,”VVision-Based Time Varying Stabilization of a Mobile Manipulator ,” In 4th Int. Conference on Control, Automation, Robotics and Vision, Westin Stamford, Singapore,1996.
• Deegan, P., Thibodeau, B., and Grupen, R.,”Designing a Self-Stabilizing Robot For Dynamic Mobile Manipulation ,” In Proceedings of the Robotics: Science and Systems Workshop on Manipulation for Human Environments, Philadelphia, Pennsylvania, 2006.
• Maki K. Rasid,” Simulation of intelligent single wheel mobile robot,” Advanced Robotics Systems, 2007.
• Zhao-Hui Jiang, K. Kamise ,” Unstable Object Stabilization and Control Using a DD Robot Manipulator,” In proceeding of: Networking, Sensing and Control,2007. [9]
• T. B. Lauwers, R.L. Hollis ,” A Dynamically stable single- wheeled Mobile robot with inverse mouse-ball drive,” Robotics and Automation, 2006. ICRA 2006. Proceedings, 2006.
• A.BARA , S. DALE ,” Dynamic Modeling and Stabilization of Wheeled Mobile Robot ,” Proceedings of the 5th WSEAS Int. Conf. on DYNAMICAL SYSTEMS and CONTROL, 2009.
• R. Fierro and F. L. Lewis ,” Control of a Nonholonomic Mobile Robot: Backstepping Kinematics into Dynamics ,” Automation and Robotics Research Institute The University of Texas at Arlington, 1997.
• Alexandru Bara, Sanda Dale,”Dynamic modeling and stabilization of wheeled mobile robot ,” International conference on Dynamical systems and control, 2009, pp:8651-881.
• P. Muir,” Modeling and control of wheeled mobile robots,” PhD dissertation Carnegie mellon university,Carnegie. 1987.
• Mark W. Spong, Seth Hutchinson, and M. Vidyasagar ,” Robot Dynamics and Control,” Willy, USA, 20