Switch control for operating constrained mechanisms using a rescuing mobile manipulator with multiple working modes

摘要

This work was to develop a switch control approach for operating constrained mechanisms such as screwing valves or opening doors by using a rescuing mobile manipulator. The main concern is the prevention of generation of large internal forces attributed to location errors or imprecise parameter identification. Unlike conventional active or passive control methods, the proposed concept employs the switch control strategy to guarantee switching of robot joints in different working modes. Each joint of the rescuing mobile manipulator is designed with multiple working modes (passive mode and active mode). Active and passive control laws are provided for different working modes. The switch controller is realized to work the joints in the passive mode or active model automatically based on the analysis of Lyapunov stability. Thus, the stable operation is achieved with smaller inside force. From the analysis of system simulation and test results, the explanation of the effectiveness was definitely.