Dynamic redundancy resolution in a nonholonomic wheeled mobile manipulator

Authors:
Glenn d. White;Rajankumar m. Bhatt;Venkat n. Krovi
Affiliations:
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;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;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
Venue:
Robotica
Year:
2007

Citing 8
Cited 5

Robot Motion Planning

Robot Motion Planning
Advanced Robotics: Redundancy and Optimization

Advanced Robotics: Redundancy and Optimization
Theory of Robot Control

Theory of Robot Control
A Mathematical Introduction to Robotic Manipulation

A Mathematical Introduction to Robotic Manipulation
Nonholonomic Motion Planning

Nonholonomic Motion Planning
Control and coordination of locomotion and manipulation of a wheeled mobile manipulator

Control and coordination of locomotion and manipulation of a wheeled mobile manipulator
Null space velocity control with dynamically consistent pseudo-inverse

Robotica
Redundant nonholonomic mechanical systems: characterization and control

Robotica

Optimal trajectory planning for a redundant mobile manipulator with non-holonomic constraints performing push–pull tasks

Robotica
Dynamic Control and Analysis of a Nonholonomic Mobile Modular Robot

ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Analysis on the interaction between the nonholonomic mobile modular robot and the environment

ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback

ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
On trajectory tracking control for nonholonomic mobile manipulators with dynamic uncertainties and external torque disturbances

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

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.