Robust adaptive control of door opening by a mobile rescue manipulator based on unknown-force-related constraints estimation. Issue 1 (3rd May 2017)

• Record Type: Journal Article
• Authors: Ding, Liang; Xia, Kerui; Gao, Haibo; Liu, Guangjun; Deng, Zongquan
• Is Part Of: Robotica. Volume 36:Issue 1(2018)
• Page Start: 119
• Page End: 140
• Publication Date: 2017-05-03
• Subjects: Rescue task, -- Door-opening, -- Mobile manipulator, -- Unknown-force-related constraints estimation, -- Robust adaptive control; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574717000200
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: This study focuses on a door-opening mobile manipulator operating in four phases (reaching the door, grasping the door handle, turning the door handle, and pulling the door). We use force/torque feedback-based control, achieving compliance of the mobile base when it comes into contact with the handle. A method is proposed for estimating the unknown force-related constraints from manipulator joint position measurements. A robust adaptive control strategy is developed for tracking the planned trajectory to open the door. Finally, a mobile manipulator opens a real door with a locked latch and unknown force-related constraints, demonstrating the validity of the proposed approach.