Motion control of nonholonomic mobile underactuated manipulator

Author

Li, Zhijun ; Ming, Aiguo ; Xi, Ning ; Shimojo, Makoto

Author_Institution

Dept. of Mech. & Control Eng., Univ. of Electro-Commun., Chofu

fYear

2006

fDate

15-19 May 2006

Firstpage

3512

Lastpage

3519

Abstract

Motion control is investigated for a nonholonomic mobile manipulator using hybrid joints, which could be switched to either active (actuated) or passive (underactuated) mode. The mobile platform is driven with two independent wheels and the arm has hybrid joints in the horizontal plane. The dynamic constraints are shown to be a first-order nonholonomic for the mobile base and a second-order nonholonomic for the link when one of hybrid joints is underactuated. Two Different motion control methods for mobile underactuated manipulator with one passive joint are proposed. Simulation and experimental studies show the effectiveness of the proposed methods

Keywords

manipulator dynamics; motion control; first-order nonholonomic dynamic constraints; hybrid joints; motion control; nonholonomic mobile underactuated manipulator; second-order nonholonomic constraints; Acceleration; Actuators; Control systems; Differential equations; Manipulator dynamics; Mobile robots; Motion control; Robot kinematics; Safety; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642238

Filename

1642238