Kinematic Control of Nonholonomic Wheeled Mobile Manipulator: A Differential Flatness Approach

Abstract

This paper presents an integrated motion planning and control framework for a nonholonomic wheeled mobile manipulator (WMM) system taking advantage of the (differential) flatness property. We first develop the kinematic model of the system and analyze its flatness properties. Subsequently, a statically feedback linearizable system description is developed by appropriately choosing the flat outputs. Motion-planning can now be achieved by polynomial curve fitting to satisfying the terminal conditions in the flat output space while control design reduces to a pole-placement problem for a linear system. A case study of point-to-point motion is considered to study the effectiveness of pose stabilization in the WMM. The simulation and experimental results highlight the ease-of-implementation of proposed method for online real-time integrated motion-planning/control within a hardware-in-the-loop (HIL) electro-mechanical testing.

Artificial Neural Network Based Path Planning of Excavator Arm

“…1. The system can be considered a subclass of a wheeled mobile manipulator with a wheeled mobile robot (excavator base) and a mounted multi-degree-of-freedom manipulator (excavator arm) [18]. ( , ) Each connection defines the network topology, and it allows the neurons to transmit a signal from one neuron to another.…”

Comparative Study of Stabilization Controls of a Forklift Vehicle

“…A coordinate transformation is used. Examples of coordinate transformation are the chained form (Murray and Sastry, 1993), the power form (Pomet and Samson, 1994), the polar coordinates (Aicardi et al, 1995), the sigma process (Astolfi, 1996), the differential flatness approach (Lamiraux and Laumond, 2000;Tang et al, 2008;Ryu and Agarwal, 2010), and the transverse form (Morin and Samson, 2009). Several control algorithms proposed are the time-varying control (Samson, 1995;Tamba et al, 2009;Wang et al, 2015), discontinuous control (Lamiraux and Laumond, 2000), and the switching method (Hespanha and Morse, 1999).…”

Trajectory Tracking Control of Mobile Manipulators Based on Kinematics

“…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 (Fruchard et al, 2005) that takes a somehow intermediate approach, most works on WMMs focus on kinematic control, e.g., (Bayle et al, 2002), (Luca et al, 2010), (Tang et al, 2008).…”