Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation

Abstract

We propose a systematic modeling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. We use the models derived to generalize the standard definition of manipulability to the case of mobile manipulators. The effects of mounting a robotic arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined. Several applications are evoked, particularly applications to control. The optimization of criteria inherited from manipulability considerations are given to generate the controls of our system when its end effector motion is imposed.

Distributed cooperative object attitude manipulation

“…A mobile manipulator has a higher degree of manipulability than a fixed manipulator [14]. A secondary task is assigned to the mobile platform since the motion of the manipulator is typically faster than that of the platform.…”

“…It enhances autonomy of the robots by exploiting the multi-agents systems theory like [9], [11] but it also takes into account the kinematics of a mobile manipulator setup for each agent. " It considers singularity avoidance by proposing an appropriately designed control for the mobile platform as opposed to other works on mobile manipulation [12]- [14]. Note that our solution to the mobile manipulator control problem is decomposed by assigning separate tasks to the manipulator and the mobile platform in contrast to [14].…”

“…It considers singularity avoidance by proposing an appropriately designed control for the mobile platform as opposed to other works on mobile manipulation [12]- [14]. Note that our solution to the mobile manipulator control problem is decomposed by assigning separate tasks to the manipulator and the mobile platform in contrast to [14].…”

Motion planning and redundancy resolution of a rover manipulator

“…Similarly, many other researchers [2], [3], [4] solved same problem with different cost functions or methods. Bayle et al [5], [6] proposed an approach for redundancy resolution of a mobile manipulator which maximizes its manipulability measure. Recently, Hamner et al [7], presented an autonomous mobile manipulator that effectively overcomes inherent system uncertainties and exceptions by utilizing control strategies that employ coordinated control.…”

Motion Planning And Coordinated Control For Mobile Manipulators

“…These include dynamic and static stability, force development and application, control in the presence of base compliance, dynamic coupling issues, and etc. Particularly, motion planning and control has drawn great attention recently [3] . Control of mobile manipulator is mainly including two aspects, one is the motion planning for the mobile platform and the manipulator, the other is the coordinated control of them.…”