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nonholonomic mobile manipulator

Robotica (1)

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Dynamic redundancy resolution in a nonholonomic wheeled mobile manipulator
Glenn D. White, Rajankumar M. Bhatt, Venkat N. Krovi
Journal:

Robotica / Volume 25 / Issue 2 / March 2007

Published online by Cambridge University Press:

01 March 2007, pp. 147-156
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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.