Interaction control of a redundant mobile manipulator
- Univ. of California, Davis, CA (United States). Dept. of Mechanical and Aeronautical Engineering
This paper discusses the modeling and control of a spatial mobile manipulator that consists of a robotic manipulator mounted on a wheeled mobile platform. The Lagrange-d`Alembert formulation is used to obtain a concise description of the dynamics of the system, which is subject to nonholonomic constraints. The complexity of the model is increased by introducing kinematic redundancy, which is created when a multilinked manipulator is used. The kinematic redundancy is resolved by decomposing the mobile manipulator into two subsystems: the mobile platform and the manipulator. The redundancy resolution scheme employs a nonlinear interaction-control algorithm, which is developed and applied to coordinate the two subsystems` controllers. The subsystem controllers are independently designed, based on each subsystem`s dynamic characteristics. Simulation results show the promise of the developed algorithm.
- Sponsoring Organization:
- USDOE
- OSTI ID:
- 302339
- Journal Information:
- International Journal of Robotics Research, Vol. 17, Issue 12; Other Information: PBD: Dec 1998
- Country of Publication:
- United States
- Language:
- English
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