Interaction control of a redundant mobile manipulator

Journal Article · Tue Dec 01 04:00:00 EST 1998 · International Journal of Robotics Research

DOI:https://doi.org/10.1177/027836499801701203· OSTI ID:302339

Chung, J H; Velinsky, S A; Hess, R A ^[1]

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1. 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, Journal Name: International Journal of Robotics Research Journal Issue: 12 Vol. 17; ISSN IJRREL; ISSN 0278-3649
• Country of Publication: United States
• Language: English

Related Subjects

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION
42 ENGINEERING
CONTROL SYSTEMS
DYNAMICS
MANIPULATORS
MATHEMATICAL MODELS
MOTION
NONLINEAR PROBLEMS
ROBOTS