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Dynamic redundancy resolution in a nonholonomic wheeled mobile manipulator

Published online by Cambridge University Press:  01 March 2007

Glenn D. White ,
Rajankumar M. Bhatt  and
Venkat N. Krovi
Glenn D. White
Affiliation:
Department of Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY 14260, USA E-mails: gdwhite@eng.buffalo.edu, rmbhatt@eng.buffalo.edu
Rajankumar M. Bhatt
Affiliation:
Department of Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY 14260, USA E-mails: gdwhite@eng.buffalo.edu, rmbhatt@eng.buffalo.edu
Venkat N. Krovi*
Affiliation:
Department of Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY 14260, USA E-mails: gdwhite@eng.buffalo.edu, rmbhatt@eng.buffalo.edu
*
*Corresponding author. E-mail: vkrovi@eng.buffalo.edu
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Summary

Wheeled Mobile Manipulators (WMM) possess many advantages over fixed-base counterparts in terms of improved workspace, mobility and robustness. However, the combination of the nonholonomic constraints with the inherent redundancy limits effective exploitation of end-effector payload manipulation capabilities. The dynamic-level redundancy-resolution scheme presented in this paper decomposes the system dynamics into decoupled task-space (end-effector motions/forces) and a dynamically consistent null-space (internal motions/forces) component. This simplifies the subsequent development of a prioritized task-space control (of end-effector interactions) and a decoupled but secondary null-space control (of internal motions) in a hierarchical WMM controller. Various aspects of the ensuing novel capabilities are illustrated using a series of simulation results.

Keywords

Decoupled task- and null-space dynamic controlDynamic redundancy resolutionNonholonomic mobile manipulator
Type
Article
Information
Robotica , Volume 25 , Issue 2 , March 2007 , pp. 147 - 156
Copyright
Copyright © Cambridge University Press 2007

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