Dynamic redundancy resolution in a nonholonomic wheeled mobile manipulator

White, Glenn D.; Bhatt, R. K.; Krovi, Venkat

doi:10.1017/s0263574706003328

Cited by 45 publications

(32 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…2, focusing primarily on the notation to be used in this paper. We broadly follow the development of the [25], which is further extended to the NH-WMM case in [21].…”

Section: Modeling Of Wmmmentioning

confidence: 99%

“…The derivation of the previous matrices is straightforward, and we refer the reader to [21] for the details. Since our system operates in the horizontal plane, there is no gravitational contribution to the dynamics.…”

Section: B Dynamics Of the Nh-wmmmentioning

confidence: 99%

“…To this end, we adapt dynamic redundancy resolution methods developed for control of serial-chain redundant robots [22], [24] for use with the NH-WMM [21].…”

Section: Decoupled Task-and Null-space Dynamic Control Strategymentioning

confidence: 99%

“…Tan et al [19] controlled a holonomic mobile manipulator to manipulate a passive nonholonomic cart along straight lines, corners, or sinusoidal trajectories. Inoue et al [20] considered external force disturbance rejection in the form of a disturbance observer in an NH-WMM, whereas our method has the potential to regulate the end-effector force [21].…”

Section: Introductionmentioning

confidence: 99%

“…However, to the best of our knowledge, this has never been extended to and evaluated within experimental NH-WMMs. Realizing control of end-effector motion/force outputs in task-space by the NH-WMMs is a critical precursor to our longer term goal of decentralized payload manipulation operations [8], [21].…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator

White

Bhatt

Tang

et al. 2009

IEEE/ASME Trans. Mechatron.

Self Cite

View full text Add to dashboard Cite

Mobile manipulators derive significant novel capabilities for enhanced interactions with the world by merging mobility with manipulation. However, a careful resolution of the redundancy and active control of the reconfigurability, created by the surplus articulated DOFs and actuation, are the keys to unlocking this potential. Nonholonomic wheeled mobile manipulators, formed by mounting manipulator arms on disc-wheeled mobile bases, are a small but important subclass of mobile manipulators. The primary control challenges arise due to the dynamic-level coupling of the nonholonomy of the wheeled mobile bases with the inherent kinematic and actuation redundancy within the articulated chain. The solution approach in this paper builds upon a dynamically consistent and decoupled partitioning of the articulated system dynamics between the external (task) space and internal (null) space. The independent controllers, developed within each decoupled space, facilitate active internal reconfiguration, in addition to resolving redundancy at the dynamic level. Specifically, two variants of null-space controllers are implemented to improve disturbance rejection and active reconfiguration during performance of end-effector tasks by a primary end-effector impedance-mode controller. These algorithms are evaluated within an implementation framework that emphasizes both virtual prototyping and hardware-in-the-loop testing with representative case studies.Index Terms-Dynamic redundancy resolution, hardwarein-the-loop (HIL), nonholonomic wheeled mobile manipulator (NH-WMM), virtual prototyping (VP).

show abstract

“…2, focusing primarily on the notation to be used in this paper. We broadly follow the development of the [25], which is further extended to the NH-WMM case in [21].…”

Section: Modeling Of Wmmmentioning

confidence: 99%

Section: B Dynamics Of the Nh-wmmmentioning

confidence: 99%

“…To this end, we adapt dynamic redundancy resolution methods developed for control of serial-chain redundant robots [22], [24] for use with the NH-WMM [21].…”

Section: Decoupled Task-and Null-space Dynamic Control Strategymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator

White

Bhatt

Tang

et al. 2009

IEEE/ASME Trans. Mechatron.

Self Cite

View full text Add to dashboard Cite

show abstract

Robust control design for teleoperation of multiple mobile manipulators under time delays

Ahmad

Pan

Shen

2020

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

This article addresses a novel multilateral teleoperation control scheme for single-master multiple slave systems, which can be extended to n masters and n slaves without the loss of generality, where the master is a m degrees of freedom (DOF) manipulator arm and the slaves are m DOF mobile manipulators. The human operator operates the master robot to remotely control the slaves handling a target object. The master position signal is transmitted to the slave side to generate a desired object trajectory as well as the reference mobile base velocity. An adaptive robust controller is designed for the slaves to follow the desired trajectory from the master, which not only provides the excellent trajectory tracking but also optimize the internal force distribution of the object. A null space controller is designed for the mobile platforms of the mobile manipulators to achieve the velocity consensus while achieving the main task of object transportation. The novel control design uses the transmission of the environmental force feedback over the communication channel by the estimated parameters of the environment, which helps retain the stability of the overall system. The environmental force is predicted on the master side based on the estimated environmental parameters. The proposed control design can simultaneously achieve the objectives of stability, synchronization, and optimal internal force distribution. The simulation results of a single-master and three slaves teleoperation system validate the efficacy of the proposed control algorithm.

show abstract

Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances

Galicki

2022

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

A robust finite-time control law is proposed for mobile manipulators with uncertain both kinematic and dynamic equations. Moreover, the following external disturbances are allowed to act on the system: unstructured forces exerted on the end-effector, slip reaction forces affecting the platform wheels, unknown friction forces coming from joints directly driven by the actuators and undesirable unstructured forces caused by singular configurations. In order to cope with both parametric uncertainties and unknown/unstructured external disturbances, we first transform the original control problem whose non-holonomic constraints are violated into a steering one in an extended space of generalized coordinates with extended non-holonomic constraints of the Pfaffian form and then introduce a task space non-singular terminal sliding manifold. Based on the Lyapunov stability theory, a new class of estimated extended transposed Jacobian control laws is derived which both effectively counteract the external forces and significantly reduce the slipping phenomena. A second order sliding technique is involved in our control law to eliminate undesirable chattering effect. An illustrative example of a mobile manipulator control demonstrates the advantages of the approach. Moreover, numerical comparisons with other representative controllers well-known in the literature are also given.

show abstract

Dynamic redundancy resolution in a nonholonomic wheeled mobile manipulator

Cited by 45 publications

References 23 publications

Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator

Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator

Robust control design for teleoperation of multiple mobile manipulators under time delays

Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances

Contact Info

Product

Resources

About