Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation

Bayle, B.; Fourquet, Jean-Yves; Renaud, Marc

doi:10.1177/02783649030227007

Cited by 127 publications

(23 citation statements)

References 42 publications

(50 reference statements)

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“…From (25) Finally, the trajectory q (t) that satisfies boundary conditions (2)-(3), nonholonomic constraints (4), mechanical and collision avoidance constraints (5)- (6) and minimises the performance index (9), can be obtained from (18) extended by perturbation (21) as follows:…”

Section: Collision-free Trajectory Planningmentioning

confidence: 99%

“…In [4] Seraji has proposed an approach which treats nonholonomic constraints of the mobile platform and the kinematic redundancy of the manipulator arm in a unified manner to obtain the desired end-effector motion. Bayle et al in the works [5,6] have proposed an algorithm based on a pseudo-inverse scheme taking into account a geometric constraint on the end-effector motion. Secondary tasks have been used for resolving the redundancy of the mobile manipulator.…”

Section: Introductionmentioning

confidence: 99%

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

Pająk

2016

J Intell Robot Syst

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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.

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Section: Collision-free Trajectory Planningmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

Pająk

2016

J Intell Robot Syst

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“…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

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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.

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“…It has velocity controlled joints with high ratio gear reduction (i. e. the torque at each joints cannot directly be controlled) and so needs to rely on kinematic control schemes. Thus, we hereafter present some kinematics modeling results regarding mobile manipulators based on Bayle et al work [2], [3]. We also shortly introduce the inertia matrix of this kind of mobile manipulator.…”

Section: Modeling Of a Mobile Manipulatormentioning

confidence: 99%

“…[20] for a detailed presentation of this notion) but was also extended to mobile manipulators in [3]. The different manipulability measures are quantitative indicators representing the ease to instantly move the end-effector in any direction.…”

Section: ) Manipulability Maximizationmentioning

confidence: 99%

Controlling dynamic contact transition for nonholonomic mobile manipulators

Padois

Chiron

Fourquet

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

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Abstract-This work is devoted to planning and execution of complex missions in Robotics. Robotics has evolved from an industrial, repetitive framework to application domains with much more variability of tasks, with increasing complexity in uncertain environment. This is clearly the case for Service Robotics e.g. but even industrial robots have now to work in environment not totally calibrated for the task they have to perform. The result is that the classical decomposition in static ordered local tasks cannot apply in presence of such a variability. It has a poor dynamic performance and cannot cope with uncertainties. Our work is organized around a complex mission: "Go to the blackboard and write" for mobile manipulators that have capabilities of locomotion and manipulation. It is a simple and intuitive example of a complex mission that relies on different sensors, exhibits different operating modes and needs to switch between different feedbacks and set-points. Our approach is based on Hybrid Dynamical Systems. It is focused on dynamical sequencing of control laws that ensures good transients, robustness and allows to update the mission at every transition from one mode to another. Simulations have been realized with matlab Simulink and Stateflow toolboxes and an experimental validation has been developed within the G en om controller on the h2bis nonholonomic mobile manipulator.

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Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation

Cited by 127 publications

References 42 publications

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

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

Tracking the Kinematically Optimal Trajectories by Mobile Manipulators

Controlling dynamic contact transition for nonholonomic mobile manipulators

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