Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31108
Tipover Stability Enhancement of Wheeled Mobile Manipulators Using an Adaptive Neuro- Fuzzy Inference Controller System

Authors: A. Ghaffari, A. Meghdari, D. Naderi, S. Eslami


In this paper an algorithm based on the adaptive neuro-fuzzy controller is provided to enhance the tipover stability of mobile manipulators when they are subjected to predefined trajectories for the end-effector and the vehicle. The controller creates proper configurations for the manipulator to prevent the robot from being overturned. The optimal configuration and thus the most favorable control are obtained through soft computing approaches including a combination of genetic algorithm, neural networks, and fuzzy logic. The proposed algorithm, in this paper, is that a look-up table is designed by employing the obtained values from the genetic algorithm in order to minimize the performance index and by using this data base, rule bases are designed for the ANFIS controller and will be exerted on the actuators to enhance the tipover stability of the mobile manipulator. A numerical example is presented to demonstrate the effectiveness of the proposed algorithm.

Keywords: Soft Computing, Mobile Manipulator, Tipover Stability Enhancement, Adaptive Neuro-Fuzzy Inference Controller System

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1677


[1] Y. Yamamoto, X. Yun, Effect of the Dynamic Interaction on Coordinated Control of Mobile Manipulators, IEEE Transaction on Robotics and Automation, pp. 816-824, Vol. 12, No. 5, October 1996.
[2] Q. Huang, S. Sugano, Manipulator Motion Planning for Stabilizing a Mobile Manipulator, International Conference on Intelligent Robots and systems, IEEE, pp. 3467-3472, 1995.
[3] Q. Huang, S. Sugano, and K. Tanie, Motion Planning for a Mobile Manipulator Considering Stability and Task Constraints, IEEE. pp. 2192-2198, 1998.
[4] S. Dubowsky, E.E. Vance, Planning Mobile Manipulator Motions Considering Vehicle Dynamic Stability Constraints, Proc. of the 1989 IEEE, Int. Con. on Robotics and Automation, pp. 1271-1276, Scottsdale, AZ, May 14-19, 1989.
[5] A. Mohri, S. Furuno, and M. Yamamoto, Trajectory Planning of Mobile Manipulator with End-Effector's Specified Path, Proceeding of the IEEE/RSJ, International Conference on Intelligent Robots and Systems, pp. 2264-2269, Maui, Hawaii, USA, Oct. 29-Nov. 03, 2001.
[6] T. Das, I.N. Kar, Design and Implementation of an Adaptive Fuzzy Logic-Based Controller for Wheels Mobile Robots, IEEE Transactions on Control Systems Technology, Vol. 14, No. 3., pp. 501-510, May 2006.
[7] F.N. Martins, W.C. Celeste, R. Carelli, M. Sarcinelli-Filho, and T.F. Bastos-Filho, An Adaptive Controller for Autonomous Mobile Robot Trajectory Tracking, Journal of Control Engineering Practice 16, pp. 1354-1363, 2008.
[8] Y. Zhao, S.L. BeMent, Kinematics, Dynamics and Control of Wheeled Mobile Robots, Proceeding of the 1992 IEEE, International Conference on Robotics and Automation, pp. 91-96, Nice, France- May 1992.
[9] A. Segovia, M. Garduno, and A. Diaz, Kinematic Design and Control of a Mobile Robot, Journal of the Mexican Society of Instrumentation, Instrumentation and Development, pp. 3-11, Vol. 4 Nr.2/1999.
[10] J. Godjevac, N. Steele, Neuro-Fuzzy Control of a Mobile Robot, Journal of Neurocomputing, 28, pp. 127-143, 1999.
[11] M.R. Emami, A.A. Goldenberg, and B. Turksen, Fuzzy-Logic Control of Dynamic Systems: From Modeling to Design, Journal of Engineering Applications of Artificial Intelligence, 13, pp. 47-69, 2000.
[12] K.C. Chiou, S.J. Huang, An Adaptive Fuzzy Controller for Robot Manipulators, Journal of Mechatronics, 15, pp. 151-177, 2005.
[13] S. Lin, A.A. Goldenberg, Neural-Network Control of Mobile Manipulators, IEEE Transactions on Neural Networks, pp. 1121-1133, 2001.
[14] Y. Li, Y Liu, Online Fuzzy Logic Control for Tipover Avoidance of Autonomous redundant mobile manipulators, International Journal of Vehicle Autonomous Systems, Vol. 4, No. 1, pp. 24-43, 2006.
[15] J.B. Mbede, P. Ele, C.M. Mveh-Abia, Y. Toure, V. Graefe, and S. Ma, Intelligent Mobile Manipulator Navigation Using Adaptive Neuro-Fuzzy Systems, International Journal of Information Sciences-Informatics and Computer Science, Vol. 171, Issue, 4, pp. 447-474, May 2005.
[16] J. Denavit, R.C. Hertenberg, A Kinematic Notation for Lower-Pair Mechanism Based on Matrices, Journal of App. Mech., pp. 215-221, June 1955.
[17] A. Meghdari, D. Naderi, and M.R. Alam, Tipover Stability Estimation for Autonomous Mobile Manipulator Using Neural Network, 2004 Japan-USA Symposium on Flexible Automation, JUSFA 2004, Colorado, July 19-21, 2004.
[18] R.L. Haupt, S.E. Haupt, Practical Genetic Algorithms, John Wiley & Sons, Inc. 1998.
[19] D.E. Goldberg, Genetic Algorithms in Search, Optimization, and Machine Learning. Addison-Wesley Publishing Co. Inc., 1989.
[20] M. Chen, A.M.S. Zalzala, A Genetic Approach to Motion Planning of Redundant Mobile Manipulator Systems Considering Safety and Configuration, Journal of Robotic Systems, Vol. 14, Issue. 7, pp. 529- 544, 1998.
[21] A. Ghaffari, H.M. Mirkhani, and M. Najafi, Stability Investigation of a Class of Fuzzy Logic Control Systems, IEEE International Symposium on Intelligent Control (ISIC), Mexico City, September 5-7, 2001.