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

2008 ◽  
Author(s):  
Chin Pei Tang ◽  
Patrick T. Miller ◽  
Venkat N. Krovi ◽  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Motion Planning ◽  
Kinematic Model ◽  
Pole Placement ◽  
Mobile Manipulator ◽  
Differential Flatness ◽  
Placement Problem ◽  
Planning And Control ◽  
Polynomial Curve ◽  
Point Motion ◽  
Point To Point

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.

Differentially Flat Designs of Mobile Vehicles With Under-Actuated Manipulator Arms

2007 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Vivek Sangwan ◽  
Sunil K. Agrawal
Keyword(s):  
Controller Design ◽  
Mobile Manipulator ◽  
Differential Flatness ◽  
Combined System ◽  
Planning And Control ◽  
Mobile Vehicle ◽  
Highly Nonlinear ◽  
Manipulator Arm ◽  
Point To Point ◽  
And Control

Differential flatness has been investigated in the context of mobile vehicles for planning and control of their motions. In these models, the wheels are considered to be non-slipping, i.e., the system dynamics is subject to non-holonomic constraints. If a manipulator arm is mounted on such a mobile vehicle, the dynamics becomes highly nonlinear due to the nonlinear coupling between the motions of the mobile vehicle and the manipulator arm. A challenging question is how to perform point-to-point motions of such a system in the state space of the mobile manipulator. If some of the actuators are absent in the mechanical arm, the mobile manipulator becomes under-actuated and consequently even harder to plan and control. This paper presents a methodology for design of mobile vehicles, mounted with under-actuated manipulators operating in a horizontal plane, such that the combined system is differentially flat. In this paper, we show that by appropriate inertia distribution of the links and addition of torsion springs at the joints, a range of under-actuated designs are possible where the underactuated mobile manipulator system is differentially flat. The differential flatness property allows to efficiently solve the problem of trajectory planning and feedback controller design for point to point motions of the system. The proposed method is illustrated by the example of a mobile vehicle with under-actuated three-link manipulator.

Kinematics Analysis and Motion Control of a Mobile Robot Driven by Three Tracked Vehicles

2018 ◽  
Author(s):  
Xin-Jun Liu ◽  
Zhao Gong ◽  
Fugui Xie ◽  
Shuzhan Shentu
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Tracked Vehicles ◽  
Loop Control ◽  
Point Motion ◽  
Point To Point ◽  
Motion Mode

In this paper, a mobile robot named VicRoB with 6 degrees of freedom (DOFs) driven by three tracked vehicles is designed and analyzed. The robot employs a 3-PPSR parallel configuration. The scheme of the mechanism and the inverse kinematic solution are given. A path planning method of a single tracked vehicle and a coordinated motion planning of three tracked vehicles are proposed. The mechanical structure and the electrical architecture of VicRoB prototype are illustrated. VicRoB can achieve the point-to-point motion mode and the continuous motion mode with employing the motion planning method. The orientation precision of VicRoB is measured in a series of motion experiments, which verifies the feasibility of the motion planning method. This work provides a kinematic basis for the orientation closed loop control of VicRoB whether it works on flat or rough road.

Differential-Flatness-Based Planning and Control of a Wheeled Mobile Manipulator—Theory and Experiment

2011 ◽  
Vol 16 (4) ◽  
pp. 768-773 ◽  
Author(s):  
Chin Pei Tang ◽  
Patrick T. Miller ◽  
Venkat N. Krovi ◽  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Mobile Manipulator ◽  
Differential Flatness ◽  
Planning And Control ◽  
And Control ◽  
Theory And Experiment

JOINT SPACE POINT-TO-POINT MOTION PLANNING FOR ROBOTS. AN INDUSTRIAL IMPLEMENTATION

2005 ◽  
Vol 38 (1) ◽  
pp. 187-192
Author(s):  
Gianluca Antonelli ◽  
Stefano Chiaverini ◽  
Marco Palladino ◽  
Gian Paolo Gerio ◽  
Gerardo Renga
Keyword(s):  
Motion Planning ◽  
Joint Space ◽  
Industrial Implementation ◽  
Point Motion ◽  
Space Point ◽  
Point To Point

Development of PC-Based Simulation and Control Platform for a 6-DOF Robotic Arm

2014 ◽  
Vol 543-547 ◽  
pp. 1397-1400 ◽  
Author(s):  
Wen Zhe Wang ◽  
Shi Yue Liu ◽  
Qing Bo Geng ◽  
Qing Fei
Keyword(s):  
Motion Planning ◽  
Robot Control ◽  
Servo Control ◽  
Robotic Arm ◽  
Kinematic Scheme ◽  
Control Card ◽  
Point Motion ◽  
Real Robot ◽  
Point To Point ◽  
And Control

This paper developed a 6-DOF (degree of freedom) PC-Based robotic arm system. The system mainly include in software platform and servo control card, servo control card based on microcontroller STC12C5A60S2 was designed to drive the servomotor connected with each joint of robot. The software was implemented by combining MFC with OpenGL. By using the OpenGL functions, the software is able to draw and simulate the 3D kinematic scheme of the robot, it also provides 3D motion planning simulation feature. With the help of simulation in the GUI, users can visualize the manipulator motion planning. Furthermore, user also can control the real robotic arm through this software. Finally, point-to-point motion and continuous path motion are all tested in simulation and real robot control. The entire system has been successfully implemented.

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