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In this paper, a velocity tracking controller for hydrostatic drive transmissions is developed. The solution is based on a state-dependent model that incorporates nonlinear characteristics of the system. A full state feedback controller is devised and the gains are scheduled on measured speed and pressures, together with approximated volumetric flow. The effects of uncertainties, especially those...
Mobile manipulators are one of the major pillars in the thriving field of service robotics, perhaps mainly due to the wide workspace provided by the mobile base. Exploitation of this vast workspace entails accurate positioning of the robot while overcoming several complexities, such as nonholonomic constraints and actuator limitations. In this paper, we analyze the integration of a vision and path-following...
This paper addresses the problem of pallet picking by an Articulated-Frame-Steering (AFS) hydraulic machine. We propose a macro-micro visual mobile manipulation architecture, where a smooth switching logic navigates the robot to pick an object. The state space is divided into several regions depending on the accuracy of the vision and robot's degrees of freedom. The control architecture benefits from...
In this paper, we address the problem of diagnostics of mobile hydraulic work machines. A diagnostics method based on the comparison of measurement data of a HIL-simulator and a real mobile work machine using a real time simulation model of an articulated-frame-steered wheel loader is presented. The proposed method includes two phases: training and testing. We use similar set of drive sequences in...
Autonomous mobile machines use onboard sensors for navigation and obstacle avoidance. The accuracy of the sensor data in global frame is however dependent on the localization accuracy of the machine. Simultaneous localization and mapping algorithms (SLAM) are widely used with 3D laser scanners for mapping the world. They use scan matching algorithms to solve the accuracy problem by matching prior...
This paper, as a generalization of our previous works, presents a unified time-optimal path-following controller for Wheeled Mobile Robots (WMRs). Unlike other path-following controllers, we solve the path-following problem for all common categories of WMRs such as car-like, differential, omnidirectional, all wheels steerable and others. We show that the insertion of our path-following controller...
This paper addresses the macro-micro configuration of a mobile manipulation problem for a forklift; specifically, it investigates pallet picking with visual feedback. A manipulator with limited degrees of freedom and differential constraint mobility, together with the large dimensions of the machine, requires reliable visual feedback (pallet pose) and navigation from relatively large distances. It...
Mobile robots with independently steerable wheels provide better robustness and efficiency compared to the other types of omnidirectional mobile robots. However, the non-holonomic constraints and singular configurations give rise to several challenging issues in exploiting the high maneuverability features of the robot. Many proposed motion controllers for such robots force the robot to stay outside...
This paper addresses a visual servoing problem for a mobile manipulator. Specifically, it investigates pallet picking by using visual feedback using a fork lift truck. A manipulator with limited degrees of freedom and differential constraint mobility together with large dimensions of the machine require reliable visual feedback (pallet pose) from relatively large distances. To address this challenge,...
Mobile robots with independently steerable wheels possess many high maneuverability features of omnidirectional robots while benefiting from better performance and capability of moving on rough terrains. However, motion control of such robots is a challenging task due to presence of singular configurations and unboundedly large steering velocities in the neighborhood of those singularities. Many proposed...
In this paper, we address the problem of motion control for a mobile robot with four independently steer and drive wheels. Our solution fully takes advantage of steerability of all wheels and provide capability of independent control of translation and rotation of the robot. Using non-linear control techniques, we provide a motion control law that makes the base follow a given desired smooth path...
We propose a systematic solution for real-time software development for safety critical mechatronic systems. The solution is based on Matlab/Simulink toolboxes and off-the-shelf drivers provided by hardware manufacturers, to address software development challenges in the area of PC based automation. In many cases, developers especially control systems designers found themselves immersed in technical...
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