A Framework for the Control of Nonholonomic Mobile Manipulators

Fruchard, Matthieu; Morin, Pascal; Samson, Claude

doi:10.1177/0278364906068374

Cited by 52 publications

(36 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The second approach, considered in the works [16][17][18][19][20][21][22][23][24][25] is based on the application of the (generalized) pseudoinverse of the mobile manipulator Jacobian matrix in the control formulation. Control algorithms developed from the pseudo-inverse of the Jacobian matrix are attractive and further examined by many researchers, they also have some disadvantages.…”

Section: Introductionmentioning

confidence: 99%

Tracking the Kinematically Optimal Trajectories by Mobile Manipulators

Galicki

2018

J Intell Robot Syst

View full text Add to dashboard Cite

This paper addresses the kinematically optimal control problem of the mobile manipulators. Dynamic equations of the mobile manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the mobile manipulator when tracking the trajectory by the end-effector. A computationally simple class of the Jacobian transpose control algorithms is proposed for the end-effector trajectory tracking. Such controllers apply a new non-singular Terminal Sliding Mode (TSM) manifold defined by a non-linear integral equality of the second order with respect to the task space tracking error. Based on the Lyapunov stability theory, the proposed Jacobian transpose control schemes are proved to be finite-time stable provided that some well-founded assumptions are fulfilled during the mobile manipulator movement. The performance of the proposed control strategies is illustrated through computer simulations for a mobile manipulator that attains trajectory tracking by the end-effector in a two-dimensional task space and simultaneously minimises some objective function.

show abstract

Section: Introductionmentioning

confidence: 99%

Tracking the Kinematically Optimal Trajectories by Mobile Manipulators

Galicki

2018

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

“…A solution at the kinematic level to the inverse kinematic problem to solve the point-to-point problem in a workspace with obstacles has been formulated by Galicki in [9]. Fruchard et al in the work [10] have presented a kinematic control method based on the transverse function approach. The realisation of the manipulation task has been set as the prime objective.…”

Section: Introductionmentioning

confidence: 99%

Point-to-Point Collision-Free Trajectory Planning for Mobile Manipulators

Pająk

2016

J Intell Robot Syst

View full text Add to dashboard Cite

The collision-free trajectory planning method subject to control constraints for mobile manipulators is presented. The robot task is to move from the current configuration to a given final position in the workspace. The motions are planned in order to maximise an instantaneous manipulability measure to avoid manipulator singularities. Inequality constraints on state variables i.e. collision avoidance conditions and mechanical constraints are taken into consideration. The collision avoidance is accomplished by local perturbation of the mobile manipulator motion in the obstacles neighbourhood. The fulfilment of mechanical constraints is ensured by using a penalty function approach. The proposed method guarantees satisfying control limitations resulting from capabilities of robot actuators by applying the trajectory scaling approach. Nonholonomic constraints in a Pfaffian form are explicitly incorporated into the control algorithm. A computer example involving a mobile manipulator consisting of nonholonomic platform (2,0) class and 3DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.

show abstract

“…On the other hand, output tracking laws are easier to design and implement, and can be embedded in a sensorbased control architecture when the task is not fully known in advance. For this reason, with the exception of [3] that takes a somehow intermediate approach, most works on NMMs focus on kinematic control, e.g., [4]- [9].…”

Section: Introductionmentioning

confidence: 99%

“…This ultimately leads to the impossibility of performing the assigned tasks, due to the loss of controllability of the NMM in its configuration space. While this control problem has been pointed out in the recent past [3], [10], no solution based on output tracking has been proposed so far to the best of out knowledge.…”

Section: Introductionmentioning

confidence: 99%

Kinematic control of nonholonomic mobile manipulators in the presence of steering wheels

Luca

Oriolo

Giordano

2010

2010 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

Abstract-We consider the kinematic control problem for nonholonomic mobile manipulators (NMMs) whose base contains steering wheels. For all typical tasks, the steering velocity inputs of such systems do not appear in the differential relationship between the first-order time derivative of the task output and the available NMM inputs. As a consequence, these inputs are not used by velocity-level control laws based on simple (pseudo)inversion of the task Jacobian, leading in general to the impossibility of completing the task. We propose two control solutions to this open problem based on the framework of input-output feedback linearization. First, a static feedback law is presented that defines the unspecified steering velocities via an optimization action in the null space of the task Jacobian. A dynamic feedback law is then proposed based on the input-output differential map obtained by considering the task acceleration. In this case, the velocity of the steering wheels becomes an active input for task execution, together with the manipulator joint accelerations and the driving accelerations of the base. The feasibility and performance of the two kinematic controllers are compared in simulation for a car-like base carrying a planar manipulator.

show abstract

A Framework for the Control of Nonholonomic Mobile Manipulators

Cited by 52 publications

References 21 publications

Tracking the Kinematically Optimal Trajectories by Mobile Manipulators

Tracking the Kinematically Optimal Trajectories by Mobile Manipulators

Point-to-Point Collision-Free Trajectory Planning for Mobile Manipulators

Kinematic control of nonholonomic mobile manipulators in the presence of steering wheels

Contact Info

Product

Resources

About