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Authors: Abdelkrim Brahmi 1 ; Maarouf Saad 2 ; Guy Gauthier 1 ; Wen-Hong Zhu 3 and Jawhar Ghommam 4

Affiliations: 1 École de Technologie Supérieure, Canada ; 2 Ecole de Technologie Supérieure, Canada ; 3 Space Exploration Canadian Space Agency, Canada ; 4 Ecole National d'Ingenieurs, Tunisia

Keyword(s): Virtual Decomposition Control, Adaptive Control, Centralized/Decentralized Control, Mobile Manipulator Robot.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper presents an adaptive control scheme for a mobile manipulator robot based on the virtual decomposition control (VDC). The control strategy was tested on three degrees of freedom manipulator arm mounted on two degrees of freedom mobile platform to track a desired trajectory. The desired trajectory is obtained from the workspace trajectory using the inverse kinematics. Differently to the known decentralized control that divides the mobile manipulator into two subsystems, in this paper, the mobile manipulator has N degrees of freedom, divided virtually into N subsystems. The applicability of the proposed scheme is demonstrated in real time validation. The experimental results show the effectiveness of the VDC approach.

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Paper citation in several formats:
Brahmi, A., Saad, M., Gauthier, G., Zhu, W.-H. and Ghommam, J. (2016). Adaptive Control of Mobile Manipulator Robot based on Virtual Decomposition Approach. In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-198-4; ISSN 2184-2809, SciTePress, pages 254-261. DOI: 10.5220/0005975402540261

@conference{icinco16,
author={Abdelkrim Brahmi and Maarouf Saad and Guy Gauthier and Wen{-}Hong Zhu and Jawhar Ghommam},
title={Adaptive Control of Mobile Manipulator Robot based on Virtual Decomposition Approach},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2016},
pages={254-261},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005975402540261},
isbn={978-989-758-198-4},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Adaptive Control of Mobile Manipulator Robot based on Virtual Decomposition Approach
SN - 978-989-758-198-4
IS - 2184-2809
AU - Brahmi, A.
AU - Saad, M.
AU - Gauthier, G.
AU - Zhu, W.
AU - Ghommam, J.
PY - 2016
SP - 254
EP - 261
DO - 10.5220/0005975402540261
PB - SciTePress

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