Paper Information

Journal:   AEROSPACE MECHANICS JOURNAL   SEPTEMBER 2007 , Volume 3 , Number 2; Page(s) 13 To 23.
 
Paper: 

COMPARSION BETWEEN TIME-BASED AND EVENT-BASED CONTROL FOR A MOBILE MANIPULATOR TO GUIDE A CART

 
 
Author(s):  GHAYOUR M., MOSTAJAB ALDAVEH A.
 
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Abstract: 

In this paper, an optimal controller for a mobile manipulator pushing a cart on a specified path by using time-based and event-base control method is designed. Therefore, first the kinematics of the robot and the cart is studied and their kinematic equations on are derived. The kinetic of the robot and the cart is then studied and the related equations are obtained. Next, after optimizing the robot, an event-based path planner and the force/position controller is designed for the robot, using a hybrid control of force/position type. Finally, the results of the event-based and the time-based control methods are presented and compared and the advantages of event-based control method are discussed.

 
Keyword(s): MOBILE ROBOT, OPTIMIZATION, PATH PLANNER, TIME BASED CONTROL, EVENT BASED CONTROL
 
References: 
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