Resolved motion rate and resolved acceleration servo-control of wheeled mobile robots

Conference · Sun Jan 01 00:00:00 EST 1989

OSTI ID:7249169

Muir, P F; Neuman, C P ^[1]

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1. Sandia National Labs., Albuquerque, NM (USA)

Accurate motion control of wheeled mobile robots (WMRs) is required for their application to autonomous, semi-autonomous and teleoperated tasks. The similarities between WMRs and stationary manipulators suggest that current, successful, model-based manipulator control algorithms may be applied to WMRs. Special characteristics of WMRs including higher-pairs, closed-chains, friction and unactuated and unsensed joints require innovative modeling methodologies. The WMR modeling challenge has been recently overcome, thus enabling the application of manipulator control algorithms to WMRs. This realization lays the foundation for significant technology transfer from manipulator control to WMR control. We apply two Cartesian-space manipulator control algorithms: resolved motion rate (kinematics-based) and resolved acceleration (dynamics-based) control to WMR servo-control. We evaluate simulation studies of two exemplary WMRs: Uranus (a three degree-of-freedom WMR constructed at Carnegie Mellon University), and Bicsun-Bicas (a two degree-of-freedom WMR being constructed at Sandia National Laboratories) under the control of these algorithms. Although resolved motion rate servo-control is adequate for the control of Uranus, resolved acceleration servo-control is required for the control of the mechanically simpler Bicsun-Bicas because it exhibits more dynamic coupling and nonlinearities. Successful accurate motion control of these WMRs in simulation is driving current experimental research studies. 18 refs., 7 figs., 5 tabs.

• Research Organization: Sandia National Labs., Albuquerque, NM (USA)
• Sponsoring Organization: CMU; USDOD; DOE/DP
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 7249169
• Report Number(s): SAND-89-2414C; CONF-900559-1; ON: DE90002585; CNN: N00014-81-K-0503
• Resource Relation: Conference: IEEE robotics and automation conference, Cincinnati, OH (USA), 13-18 May 1990
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
ROBOTS
RESEARCH PROGRAMS
SERVOMECHANISMS
ACCELERATION
ALGORITHMS
COMPUTERIZED CONTROL SYSTEMS
DATA ANALYSIS
DEGREES OF FREEDOM
EXPERIMENTAL DATA
FUNCTIONAL MODELS
MANIPULATORS
MECHANICAL STRUCTURES
PERFORMANCE
REMOTE CONTROL
TESTING
CONTROL
CONTROL EQUIPMENT
CONTROL SYSTEMS
DATA
EQUIPMENT
INFORMATION
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
NUMERICAL DATA
REMOTE HANDLING EQUIPMENT
420200* - Engineering- Facilities
Equipment
& Techniques
990200 - Mathematics & Computers