文章基本信息

标题：End-Effector Stabilization of a 10-DOF Mobile Manipulator using Nonlinear Model Predictive Control
本地全文：下载
作者：Mostafa Osman ; Mohamed W. Mehrez ; Shiyi Yang 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：9772-9777
DOI：10.1016/j.ifacol.2020.12.2658
语种：English
出版社：Elsevier
摘要：AbstractMotion control of mobile manipulators (a robotic arm mounted on a mobile base) can be challenging for complex tasks such as material and package handling. In this paper, a task-space stabilization controller based on Nonlinear Model Predictive Control (NMPC) is designed and implemented to a 10 Degrees of Freedom (DOF) mobile manipulator which consists of a 7-DOF robotic arm and a 3-DOF mobile base. The system model is based on kinematic models where the end-effector orientation is parameterized directly by a rotation matrix. The state and control constraints as well as singularity constraints are explicitly included in the NMPC formulation. The controller is tested using real-time simulations, which demonstrate high positioning accuracy with tractable computational cost.
关键词：KeywordsMobile manipulatortask-space controlnon-linear model predictive control