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Motion Planning and Tracking of a Hyper Redundant Non-Holonomic Mobile Dual-Arm Manipulator Yan Wei

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Motion Planning and Tracking of a Hyper Redundant Non-Holonomic Mobile Dual-Arm Manipulator Yan Wei Motion Planning and Tracking of a Hyper Redundant Non-holonomic Mobile Dual-arm Manipulator Yan Wei To cite this version: Yan Wei. Motion Planning and Tracking of a Hyper Redundant Non-holonomic Mobile Dual-arm Manipulator. Other. Ecole Centrale de Lille, 2018. English. NNT : 2018ECLI0004. tel-02057960 HAL Id: tel-02057960 https://tel.archives-ouvertes.fr/tel-02057960 Submitted on 5 Mar 2019 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. N ◦ d0ordre : 3 5 5 centrale lille thèse Présentée en vue d’obtenir le grade de DOCTEUR en Spécialité: Automatique, Génie Informatique, Traitement du Signal et Image par Yan WEI Doctoral délivré par centrale lille Titre de la thèse: Planification et Suivi de Mouvement d’un Manipulateur Mobile Non-holonome à deux Bras Motion Planning and Tracking of a Non-holonomic Mobile Dual-arm Manipulator Soutenue le 18 juin 2018 devant le jury d’examen : Président Youcef MEZOUAR Professeur, SIGMA Clermont and Institut Pascal Rapporteur Daniel SIDOBRE Maître de conférence HDR, Université Paul Sabatier Rapporteur Jingrui ZHANG Professeur, Beijing Institute of Technology Membre Youcef MEZOUAR Professeur, SIGMA Clermont and Institut Pascal Membre Pushparaj PATHAK Ass. Prof., Indian Institute of Technology Roorkee Directeur de thèse Ahmed RAHMANI Professeur, Ecole Centrale de Lille Thèse préparée au Centre de Recherche en Informatique Signal et Automatique de Lille CRIStAL, UMR CNRS9189 - Centrale Lille Ecole Doctorale SPI 072 Je dédie ce travail à tous ceux qui le méritent, à mon cher mari Ang ZHANG, à mes chers parents, à toute ma famille, à mon directeur bien-aimé, et à mes chèr(e)s ami(e)s. Avant de s’agrandir au dehors, il faut s’affermir au dedans. Victor Hugo Most men appear never to have considered what a house is, and are actually though needlessly poor all their lives because they think that they must have such a one as their neighbors have. Walden-Henry David Thoreau Abstract vii Motion Planning and Tracking of a Non-holonomic Mobile Dual-arm Manipula- tor Abstract This thesis focuses on motion planning and tracking of a redundant Mobile Dual-Arm Manipulator System (MDAMS) for personal assistance. Firstly, the modified Denavit- Hartenberg method is used for kinematic modeling of the designed MDAMS. In order to avoid calculating system energy and energy derivatives, Kane’s method is used for dynamic modeling. The physical stability is analyzed based on the constructed Kane’s model and a controller is proposed using the back-stepping technique. Secondly, motion planning problem including redundancy and coordination solving between the mobile platform and upper manipulator is studied. In particular, an improved MaxiMin NSGA- II algorithm is proposed to design the optimal position-orientation of mobile platform and the optimal configuration of upper manipulator simultaneously given only the initial pose and the end-effectors’ desired positions and orientations. Five objective functions are defined including two positioning accuracy criteria, the manipulability criterion and two displacement criteria in task and joint spaces respectively, to optimize the desired pose. In order to achieve the transition from the initial pose to the optimal pose, a direct-connect bidirectional RRT and gradient descent-based motion planning algorithm is proposed. Specifically, a geometric optimization method is designed to guarantee always the optimal and consistent path from the initial pose to the optimal pose. In addition, head forward movements are achieved by calculating a sequence of orientations for the mobile platform based on the planned via-positions of the mobile platform and by using the linear polynomials with parabolic blends interpolation technique, thus indicating the robot’s movement intention to increase the quality of robot-human interaction. Then, in order to solve the failure problem of offline motion planning algorithm in dynamic environment, an on-line motion planning algorithm is proposed which includes on-line sensing, collision-test, on-line motion planning and tracking processes. The movements of dynamic obstacles are estimated in real time. In addition, in order to optimize via-poses, a motion planning algorithm based on end- effectors’ via-points and multi-objective GA is proposed by optimizing four via- poses-based objective functions simultaneously, which are sums of joint displacements, of end effectors’ directional manipulability measures, of end-effectors’ positioning errors and of robot-obstacle collision measures. Finally, the motion tracking problem is studied given end-effectors’ movements in the task space. The task priority and leader-follower techniques are used to solve the high redundancy and to deal with the coordination between the mobile platform and upper manipulator while tracking the end-effectors’ trajectories in real time. Instead of controlling the absolute motion in the world frame, two relative motions are introduced to realize the coordination and cooperation between the mobile platform and upper manipulator. Thus, a triple- trajectory problem is formulated. Moreover, a modulated weighted least norm technique is proposed to achieve the avoidance of joint boundaries. Keywords: mobile manipulator, kane’s method, maximin nsga-ii, redundancy solving, motion planning, trajectory tracking. viii Abstract Acknowledgments This work was carried out in “Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL)” at Ecole Centrale de Lille (ECLi) with the research team “Méthodes & Outils pour la Conception Intégrée de Système (MOCIS)”. I would like to express my sincere gratitude to the people who have helped me a lot .Without their encouragement and help, I would not have reached this position and this stage of my life. First of all, I would like to express my sincere gratitude to my PhD thesis supervisor Prof. Ahmed RAHMANI who influenced me a lot during my studies at Central Lille. He gave me the maximum freedom to search in the robot field. He taught me how to look for new areas of research, how to understand the state of the art quickly, how to write good technical papers, and how to present my ideas effectively. Besides, I also would like to acknowledge all members of the jury: Mr. Daniel SIDOBRE, Mrs. Jingrui ZHANG, Mr. Youcef Mezouar and Mr. Pushparaj Mani Pathak, for their valuable time to review this thesis. Their invaluable comments and objective criticisms shed a light on my drawbacks and the research road in the future. Meanwhile, I want to thank Prof. Qiang ZHAN from Beihang University who helped me a lot with the research work, the thesis writing and other related discussions during his visit to France. In addition, I would like to thank all the staff in CRIStAL-MOCIS, Mrs. Geneviève Dauphin Tanguy, Mr. Belkacem OULD BOUAMAMA, Mr. Christophe Sueur, etc. for their valuable discussions and insightful suggestions in team meetings. I also would like to thank three interns Yue CHAI, Yijing QI and Hongbo CAO who have done their research projects with me for their contribu- tion on the virtual prototype validation via MATMAB/SIMULINK and ADAMS co-simulation. A particular acknowledgment has to be made to the visit pro- fessors Yunhe MENG and Yongguang YU, and all my PhD colleagues Jing BAI, Youwei DONG, Xing CHU, Wei JIANG, Thanh Binh Do, Wei HU, etc. And I also want to express my great thanks to the staff at Ecole Centrale de Lille, Brigitte FONCEZ, Patrick GALLAIS and Vanessa FLEURY for their kindly help. ix x Acknowledgments Pursuing a P.h.Ddegree requires not only technical skills but also tremendous amount of stamina and courage. I would like to thank my husband ZHANG Ang for his support and accompany throughout my life abroad. And very often he gave me some valuable suggestions on the research. I wish also to thank my parents and family for sharing their unconditional love with me and giving me the necessary amount of courage required for pursuing my goals. Besides, together with my friends, Xuemei LIU, Tian TIAN, Yihan LIU, Lijie BAI, Wenjuan GU, Siyang DENG, etc. I had a very interesting time in France. Finally, I would like to thank China Scholarship Council (CSC) for giving me the opportunity to pursue the PhD diplomat at Centrale Lille. Table of Contents Abstract vii Acknowledgments ix Table of Contents xi List of Tables xv List of Figures xvii Glossary 1 INTRODUCTION 3 1 STATE OF THE ART AND PRELIMINARIES 11 1.1 STATE OF THE ART ON SERVICE ROBOTS . 11 1.1.1 Developments and Applications of Service Robots . 12 1.1.2 Humanoid Robots For Personal Assistance . 14 1.2 LITERATURE SURVEY . 19 1.2.1 Robotic System Modeling . 20 1.2.2 Motion Planning Methods . 21 1.2.3 Motion Tracking and Controllers . 31 1.3 PRELIMINARIES . 38 1.3.1 Forward Kinematics Background . 38 1.3.2 Kane’s Method for Dynamic Modeling . 39 1.3.3 Kinematic Control of Non-holonomic Mobile Platform . 41 1.3.4 Non-dominated Sorting Scheme . 43 1.4 Conclusions . 43 2 SYSTEM DESCRIPTION AND MODELING 45 2.1 INTRODUCTION . 45 2.2 SYSTEM MODELING FOR MDAMS . 46 xi xii Table of Contents 2.2.1 System Description and Kinematic Modeling . 46 2.2.2 Lagrangian Formulations and Control . 56 2.2.3 Dynamic Modeling and Control using Kane’s Method . 66 2.3 CONCLUSIONS . 73 3 MOTION PLANNING IN STATIC ENVIRONMENTS 75 3.1 INTRODUCTION . 75 3.2 MAXIMIN-BASED NSGA-II MOTION PLANNING . 79 3.2.1 Improved MaxiMin NSGA-II Algorithm for Pose Design .
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