Hostname: page-component-7b7567c8c-7pwfn Total loading time: 0 Render date: 2026-11-14T04:17:36.102Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamic redundancy resolution in a nonholonomic wheeled mobile manipulator

Published online by Cambridge University Press:  01 March 2007

Glenn D. White,
Rajankumar M. Bhatt and
Venkat N. Krovi
Glenn D. White
Affiliation:
Department of Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY 14260, USA E-mails: gdwhite@eng.buffalo.edu, rmbhatt@eng.buffalo.edu
Rajankumar M. Bhatt
Affiliation:
Department of Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY 14260, USA E-mails: gdwhite@eng.buffalo.edu, rmbhatt@eng.buffalo.edu
Venkat N. Krovi*
Affiliation:
Department of Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY 14260, USA E-mails: gdwhite@eng.buffalo.edu, rmbhatt@eng.buffalo.edu
*
*Corresponding author. E-mail: vkrovi@eng.buffalo.edu
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

Wheeled Mobile Manipulators (WMM) possess many advantages over fixed-base counterparts in terms of improved workspace, mobility and robustness. However, the combination of the nonholonomic constraints with the inherent redundancy limits effective exploitation of end-effector payload manipulation capabilities. The dynamic-level redundancy-resolution scheme presented in this paper decomposes the system dynamics into decoupled task-space (end-effector motions/forces) and a dynamically consistent null-space (internal motions/forces) component. This simplifies the subsequent development of a prioritized task-space control (of end-effector interactions) and a decoupled but secondary null-space control (of internal motions) in a hierarchical WMM controller. Various aspects of the ensuing novel capabilities are illustrated using a series of simulation results.

Keywords

Decoupled task- and null-space dynamic controlDynamic redundancy resolutionNonholonomic mobile manipulator

Information

Type
Article
Information
Robotica , Volume 25 , Issue 2 , March 2007, pp. 147 - 156
Copyright
Copyright © Cambridge University Press 2007

References

1.Tang, C. P. and Krovi, V., “Manipulability-Based Configuration Evaluation of Cooperative Payload Transport by Mobile Robot Collectives,” Proceedings of the 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference (2004).CrossRefGoogle Scholar
2.Abou-Samah, M. and Krovi, V., “Optimal Configuration Selection for a Cooperating System of Mobile Manipulators,” Proceedings of the 2002 ASME Design Engineering Technical Conference (2002).CrossRefGoogle Scholar
3.Seraji, H., “A unified approach to motion control of mobile manipulators,” Int. J. Robot. Res. 17 (2), 107–118 (1998).CrossRefGoogle Scholar
4.Yamamoto, Y., Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator Ph.D. Thesis (Philadelphia, PA: University of Pennsylvania, 1994).Google Scholar
5.Yamamoto, Y. and Yun, X., “Coordinating locomotion and manipulation of a mobile manipulator,” IEEE Trans. Autom. Control 39 (6), 1326–1332 (1994).CrossRefGoogle Scholar
6.Colbaugh, R., Trabatti, M. and Glass, K., “Redundant nonholonomic mechanical systems: characterization and control,” Robotica 17 (2), 203–217 (1999).CrossRefGoogle Scholar
7.Brockett, R. W., “Control Theory and Singular Riemannian Geometry,” In: New Directions in Applied Mathematics (Hilton, P. J. and Young, G. S.eds.) (Springer-Verlag, New York, 1981) pp. 11–27.Google Scholar
8.Murray, R. M. and Sastry, S. S., “Nonholonomic motion planning: steering using sinusoids,” IEEE Trans. Autom. Control 38 (5), 700–716 (1993).CrossRefGoogle Scholar
9.Canudas deWitt, C., Siciliano, B. and Bastin, G., Theory of Robot Control (Springer-Verlag, Berlin, 1996).Google Scholar
10.Li, Z. and Canny, J. F., Nonholonomic Motion Planning (Kluwer Academic, Boston, MA, 1993).CrossRefGoogle Scholar
11.Latombe, J.-C., Robot Motion Planning (Kluwer Academic, Boston, MA, 1991).CrossRefGoogle Scholar
12.Nakamura, Y., Advanced Robotics: Redundancy and Optimization (Addison-Wesley, CA, 1991).Google Scholar
13.Whitney, D. E., “Resolved motion rate control of manipulators and human prostheses,” IEEE Trans. Man-Mach. Syst. MMS-10, 47–53 (1969).CrossRefGoogle Scholar
14.Kumar, V. and Waldron, K. J., “Force distribution in walking vehicles on uneven terrain,” ASME J. Mechanisms, Transmiss., Autom. Design 112 (1), 90–99 (1990).CrossRefGoogle Scholar
15.Kerr, J. and Roth, B., “Analysis of multifingered hands,” Int. J. Robotics Res. 4 (4), 3–17 (1986).CrossRefGoogle Scholar
16.Yun, X. and Kumar, V., “An approach to simultaneous control of trajectory and interaction forces in dual arm configurations,” IEEE Trans. Robot. Autom. 7 (5), 618–625 (1991).CrossRefGoogle Scholar
17.Khatib, O., “A unified approach to motion and force control of robot manipulators: the operational space formulation,” IEEE J. Robot. Autom. RA-3 (1), 43–53 (1987).CrossRefGoogle Scholar
18.Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R. and Casal, A., “Vehicle/Arm Coordination and Multiple Mobile Manipulator Decentralized Cooperation,” Proceedings of the1996 IEEE/RSJ International Conference on Intelligent Robots and Systems (1996) pp. 546–553.Google Scholar
19.Tan, J., Xi, N. and Wang, Y., “Integrated task planning and control for mobile manipulators,” Int. J. Robot. Res. 22 (5), 337–354 (2003).CrossRefGoogle Scholar
20.Sarkar, N., Xiaoping, Y. and Vijay, K., “Control of mechanical systems with rolling constraints: application to dynamic control of mobile robots,” Int. J. Robot. Res. 13 (1), 55–69 (1994).CrossRefGoogle Scholar
21.Nemec, B. and Zlajpah, L., “Null space velocity control with dynamically consistent pseudo-inverse,” Robotica 18 (5), 513–518 (2000).CrossRefGoogle Scholar
22.White, G., Simultaneous motion and interaction force control of a nonholonomic mobile manipulator M.S. Thesis (Dept. Mechanical & Aerospace Engineering, State University of New York at Buffalo, NY, (2006).Google Scholar
23.Murray, R., Li, Z. and Sastry, S., A Mathematical Introduction to Robotic Manipulation (CRC Press LLC, Boca Raton, Florida, 1993).Google Scholar
24.Anderson, R. and Spong, M., “Hybrid impedance control of robotic manipulation,”IEEE J. Robot. Autom. 4 (5), 549–556 (1988).CrossRefGoogle Scholar
25.Samson, C. and Ait-Abderrahim, K., “Feedback Stabilization of a Nonholonomic Wheeled Mobile Robot,” Proceedings of the 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems (1991) pp. 1242–1247.Google Scholar
26.Samson, C. and Ait-Abderrahim, K., “Feedback Control of a Nonholonomic Wheeled Cart in Cartesian Space,” Proceedings of the 1991 IEEE International Conference on Robotics and Automation (1991) pp. 1136–1141.CrossRefGoogle Scholar