Doubly nonholonomic mobile manipulators

We study doubly nonholonomic mobile manipulators composed of a nonholonomic mobile platform and a nonholonomic manipulator fixed to the platform. The kinematics of such mobile manipulators are represented by a pair of driftless control systems driven by platform and manipulator controls, and sharing...

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Bibliographic Details
Published inIEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 Vol. 5; pp. 4590 - 4595 Vol.5
Main Authors Tchon, K., Jakubiak, J., Zadarnowska, K.
Format Conference Proceeding
LanguageEnglish
Published Piscataway NJ IEEE 2004
Subjects
Applied sciences
Computer science; control theory; systems
Computer simulation
Control systems
Control theory. Systems
Cybernetics
Drives
Ellipsoids
End effectors
Exact sciences and technology
Jacobian matrices
Kinematics
Linkage mechanisms, cams
Manipulators
Mechanical engineering. Machine design
Mobile robots
Orbital robotics
Robotics
Motor car
Dexterity
Planar mechanism
Moving robot
Manipulator kinematics
Pseudoinverse
Non holonomic system
Paired system
Jacobi matrix
Robotics
Manipulator
Inverse problem
Endogenous
Gripper
Linkage mechanism
Ellipsoid
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Summary:We study doubly nonholonomic mobile manipulators composed of a nonholonomic mobile platform and a nonholonomic manipulator fixed to the platform. The kinematics of such mobile manipulators are represented by a pair of driftless control systems driven by platform and manipulator controls, and sharing an output function that describes positions and orientations of the end effector. The approach assumed in this paper is based on the concept of endogenous configuration defined as a pair of control functions of the platform, and of the aboard manipulator. For doubly nonholonomic mobile manipulators we define local performance measures and examine the inverse kinematic problem. Our results consist in a definition of the dexterity ellipsoid, a characterization of dextrous and isotropic endogenous configurations, and a derivation of a Jacobian pseudoinverse inverse kinematics algorithm. Computer simulations involving a 3 d.o.f. planar nonholonomic manipulator mounted on a kinematic car type platform illustrate our approach.
ISBN:9780780382329
0780382323
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1302441