Neural-network-based observer for real-time tipover estimation
Tóm tắt
Từ khóa
Tài liệu tham khảo
Yammamoto, 1996, Effect of the dynamic interaction on coordinated control of mobile manipulator, IEEE Trans Robot Automat, 12, 816, 10.1109/70.538986
Ghasempoor A, Sepehri, N. A measure of machine stability for moving base manipulators. In: Proceedings of the 1995 IEEE international conference on robotics and automation.
Dubowsky S, Tanner AB. A study of the dynamics and control of mobile manipulators subjected to vehicle disturbances. In: Proceedings of the IV international symposium on robotics research, Santa Cruz, CA, 1987.
Hootsmans NAM, Dubowsky S. The control of mobile manipulators including vehicle dynamic characteristics. In: Proceedings of the IV topical meeting on robotics and remote systems, Albuquerque, NM, February 24–28, 1991.
Meghdari, 2000, Dynamic interaction between the manipulator and vehicle of a mobile manipulator, J Intell Robot Syst, 28, 277, 10.1023/A:1008153517622
Naderi, 2001, Dynamic modeling and analysis of a two DOF mobile manipulator, Robotica Int J, 19, 177, 10.1017/S0263574700003131
Dubowsky S, Vance EE. Planning mobile manipulator motions considering vehicle dynamic stability constraints. In: Proceedings of the 1989 IEEE international conference on robotics and automation, Scottsdale, AZ, May 14–19, 1989.
Papadopolous E, Rey D. A new measure of tipover stability margin for mobile manipulators. In: IEEE international conference on robotics and automation, 1996. p. 3111–6.
Sheng, 2001, Neural-network control of mobile manipulators, IEEE Trans Neural Networks, 12
Jin, 1997, Stable manipulator trajectory control using neural networks, 117
Fierro, 1998, Control of a nonholonomic mobile robot using neural networks, Proc IEEE Trans Robot Automat, 9, 589
Lewis, 1999
Luh, 1980, On-line computational scheme for mechanical manipulator, Trans ASME J Dynam Syst Measure Control, 10.1115/1.3149599
Denavit, 1955, A kinematic notation for lower-pair mechanisms based on matrices, J Appl Mech, 215, 10.1115/1.4011045
Craig, 1989
Ray, 1997, On-line automatic tipover preventation for mobile manipulators, IEEE
Huang Q, Sugano S. Manipulator motion planning for stabilizing a mobile manipulator. Intelligent robots and systems ’95. ‘Human robot interaction and cooperative robots’. In: Proceedings of the 1995 IEEE/RSJ international conference, vol. 3, 1995. p. 467–72.
Huang Q, Sugano S. Motion planning of stabilization and cooperation of a mobile manipulator. Intelligent robots and systems ’96, IROS ’96. In: Proceedings of the 1996 IEEE/RSJ international conference, vol. 2, 1996. p. 568–75.
Huang Q, Sugano S, Tanie K. Stability compensation of a mobile manipulator by manipulator motion: feasibility and planning. Intelligent robots and systems, 1997, IROS ’97. In: Proceedings of the 1997 IEEE/RSJ international conference, vol. 3, 1997. p. 1285–92.
Huang Q, Sugano S, Tanie K. Motion planning for a mobile manipulator considering stability and task constraint robotics and automation, 1998. In: Proceedings of the 1998 IEEE international conference, vol. 3, 1998. p. 2192–8.
Demuth H, Beale M. Neural network toolbox for use with MATLAB. MATLAB 5.3.1 on line manual.
Hagan, 1994, Training feedforward networks with the Marquardt algorithm, IEEE Trans Neural Networks, 5, 989, 10.1109/72.329697
Meghdari A, Naderi D, Alam MR. Tipover stability estimation for autonomous mobile manipulators using neural networks. In: CD-Rom proceedings of 2004 Japan–USA symposium on flexible automation (JUSFA), Denver CO, USA.