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    Potential Field Method Parameters Tuning Using Fuzzy Inference System for Adaptive Formation Control of Multi-Mobile Robots (2020)
    Molecular Diversity Preservation International
    Details
    Publication Date: 2020-02-25
    Description: Nowadays, employing more than one single robot in complex tasks or dangerous environments is highly required. Thus, the formation of multi-mobile robots is an active field. One famous method for formation control is the Potential Field Method due to its simplicity and efficiency in dynamic environments. Therefore, we propose a Fuzzy Inference tuning of the potential field parameters to overcome its limitations. We implement the modified method with tuned parameters on MATLAB and apply it to three TurtleBot3 burger model robots. Then, several real-time experiments are carried out to confirm the applicability and validity of the modified potential filed method to achieve the robots’ tasks. The results assert that the TurtleBot3 robots can escape from a local minimum, pass through a narrow passage, and pass between two closely placed obstacles.
    Electronic ISSN: 2218-6581
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Molecular Diversity Preservation International
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  • 2
    Electronic Resource
    Electronic Resource
    Linear state feedback regulator for rigid link manipulators (1996)
    Springer
    Journal of intelligent and robotic systems 15 (1996), S. 291-305 
    Details
    ISSN: 1573-0409
    Keywords: Rigid link manipulators ; regulators ; state feedback ; point-to-point control ; linearization ; exponential stability ; robustness
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract A new generic representation of the gravity vector in the rigid link robot dynamic model is proposed. We use this representation to design a linear state feedback regulator and show that the closed loop nonlinear system is globally asymptotically stable and exponentially stable in any closed ball. We exploit the fact that the gravity vector is the gradient of the potential function. We also consider robustness of the linear state feedback regulator to parameter uncertainty.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00572264
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    Paper (German National Licenses)
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  • 3
    Electronic Resource
    Electronic Resource
    Output regulation for flexible-joint manipulators using partial state measurement (1996)
    Springer
    Journal of intelligent and robotic systems 17 (1996), S. 101-110 
    Details
    ISSN: 1573-0409
    Keywords: robot dynamic model ; gravity vector ; potential function ; gradient ; spring stiffness matrix ; Lyapunov function ; path independence of line integral ; Lasalle theorem
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract A linear-state feedback regulator for flexible-joint manipulators is proposed. The link-position vector (in the joint space) is regulated to a given desired position using partial state measurement. The actuator-position vector is regulated to a certain equilibrium point related to the link-desired position. This work uses our earlier result [1] which puts the gravity vector of the robot dynamic model in a new specific form. The fact that the spring matrix representing joint flexibility is of high order of magnitude [3–5] is exploited to prove the global asymptotic stability of the origin of the closed loop system.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00435718
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  • 4
    Electronic Resource
    Electronic Resource
    Robust Regulator for Flexible-Joint Robots Using Integrator Backstepping (1998)
    Springer
    Journal of intelligent and robotic systems 22 (1998), S. 23-38 
    Details
    ISSN: 1573-0409
    Keywords: robot dynamic model ; stiffness matrix ; constant disturbance ; integrator backstepping ; Liapunov functions ; Barbalat lemma ; stability
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract A robust regulator for flexible-joint robots is proposed, which yields constant torque disturbance rejection acting on the links. The design uses the integrator backstepping technique [4,5] to cancel nonlinearities and disturbance not in the range space of the control. Stability of the closed loop system is shown using iterative Liapunov functions.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007947416837
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