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Flow-limited path-following control of a double Ackermann steered hydraulic mobile manipulator

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Details

Original languageEnglish
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
PublisherIEEE
Pages625-630
Number of pages6
ISBN (Electronic)978-1-7281-6794-7
ISBN (Print)978-1-7281-6795-4
DOIs
Publication statusPublished - 2020
Publication typeA4 Article in a conference publication
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics -
Duration: 1 Jan 1900 → …

Publication series

Name IEEE/ASME International Conference on Advanced Intelligent Mechatronics
ISSN (Print)2159-6247
ISSN (Electronic)2159-6255

Conference

ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics
Period1/01/00 → …

Abstract

This paper presents an approach to realize tool path-following control of double Ackermann steered wheeled mobile manipulators. Path-following is achieved by time scaling of motion trajectories when the vehicle-manipulator becomes subject to actuator flow bounds and/or tracking errors arising from limitations of the hydraulic actuation system. Our strategy combines 1) a platform path-following controller with explicit velocity bounds calculated from the a priori known pump flow limits, and 2) a manipulator trajectory scaling method based solely on the monitored position tracking error. The proposed method effectively allows the manipulator to readjust its position when facing unexpected disturbances, by propagating the scaling factor based instantaneous tool center point position errors to the platform path-following controller, to yield coordinated advancement on a predefined path. Simulation results are provided to verify the effectiveness of the method.

Publication forum classification

Field of science, Statistics Finland

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