Skip to main content
SpringerLink
Log in
Book cover

Experimental Robotics VI pp 139–149Cite as

Coordinated control of a nonholonomic mobile manipulator

  • Chapter 4 Control
  • Conference paper
  • First Online:

  • 112 Accesses

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

Abstract

In this paper, we present a control algorithm for a nonholonomic mobile manipulator built from a n joints robot manipulator mounted on a nonholonomic mobile platform. We want the manipulator end-effector location (position and orientation) to evolve between starting and final required locations and to follow a required trajectory (defined as a function of the time). We describe a global control which calculates the generalized coordinates for both the manipulator and the platform. Two types of control are presented; the first uses a set of additional tasks and the second minimizes a quadratic criterion. A comparison between these two types is made on an academic mobile manipulator, which consists of a double-pendulum mounted on the platform. The implementation of the first type is made on a real mobile manipulator which consists of the GT6A six revolute joints manipulator mounted on the HILARE H2bis platform.

This is a preview of subscription content, log in via an institution.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. H. Seraji, An on-line approach to coordinated mobility and manipulation, 1993 IEEE International Conference on Robotics and Automation, Atlanta, USA, pp. 28–34, May 1993.

    Google Scholar 

  2. H. Seraji, A unified approach to motion control of mobile manipulators, The International Journal of Robotics Research, Vol. 17, No. 2, pp. 107–118, February 1998.

    Article  Google Scholar 

  3. C.-C. Wang, and V. Kumar. Velocity control of mobile manipulators, 1993 IEEE International Conference on Robotics and Automation, Atlanta, USA, pp. 713–718, May 1993.

    Google Scholar 

  4. U. M. Nassal, An approach to motion planning for mobile manipulation, 1994 IEEE/RSJ International Conference on Intelligent Robots and Systems, Munich, Germany, pp. 831–838, September 1994.

    Google Scholar 

  5. F. G. Pin, C. J. Hacker, K. B. Gower, and K. A. Morgansen, Including a non-holonomic constraint in the full space parametrization method for mobile manipulators motion planning, 1997 International Conference on Robotics and Automation, Albuquerque, USA, pp. 2914–1919, April 1997.

    Google Scholar 

  6. Y. Yamamoto, Control and coordination of locomotion and manipulation of a wheeled mobile manipulator, Ph. D. Dissertation, University of Pennsylvania, 1994.

    Google Scholar 

  7. G. Foulon, J-Y. Fourquet, and M. Renaud, Planning point to point paths for nonholonomic mobile manipulators, 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, Canada, pp. 374–379, October 1998.

    Google Scholar 

  8. C. Perrier, P. Dauchez, and F. Pierrot, A global approach for motion generation of non-holonomic mobile manipulators, 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 2971–2976, May 1998.

    Google Scholar 

  9. O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal, Coordination and decentralized cooperation of multiple mobile manipulators, Journal of Robotic Systems, Vol 13, No. 11, pp. 755–764, 1996.

    Article  Google Scholar 

  10. K. Nagatami, and S. Yuta, Door-opening behavior of an autonomous mobile manipulator by sequence of action primitives, Journal of Robotic Systems, Vol. 13, No. 11, pp. 709–721, 1996.

    Article  Google Scholar 

  11. T. Sugar, and V. Kumar, Decentralized control of cooperating mobile manipulators, 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 2916–2921, May 1998.

    Google Scholar 

  12. G. Campion, G. Bastin, and B. D’Andréa-Novel, Structural properties and classification of kinematic and dynamic models of wheeled mobile robots, IEEE Transactions on Robotics and Automation, Vol. 12, No. 1, pp. 47–62, February 1996.

    Article  Google Scholar 

  13. B. Gorla, and M. Renaud, Modelling of robot manipulators. Control applications, to be published 1999.

    Google Scholar 

  14. G. Foulon, J.Y. Fourquet, and M. Renaud, Coordinating mobility and manipulation using nonholonomic mobile manipulators, Control Engineering Practice, to appear 1999.

    Google Scholar 

  15. G. Giralt, R. Chatila, and M. Vaisset, An integrated navigation and motion control system for autonomous multisensory mobile robots, First International Symposium of Robotics Research, Bretton Woods, USA, pp. 191–214, August 25–September 2, 1983.

    Google Scholar 

  16. VxWorks, Programmer’s Guide 5.3.1, Edition 1, Wind River Systems Inc., Alameda, USA, March 1997.

    Google Scholar 

  17. S. Fleury, M. Herrb, and R. Chatila, GenoM: A tool for the specification and the implementation of operating modules in a distributed robot architecture, 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, Grenoble, France, pp. 842–848, September 1997.

    Google Scholar 

  18. M. Herrb, Graphic Display for Hilare Experiments, personal communication, 1999.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. LAAS-CNRS, 7, Avenue du Colonel Roche, 31077, Toulouse Cedex 4, France

    Jean-Yves Fourquet & Marc Renaud

Authors
  1. Jean-Yves Fourquet
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Marc Renaud
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Jean-Yves Fourquet or Marc Renaud .

Rights and permissions

Reprints and permissions

Copyright information

© 2000 Springer-Verlag London Limited

About this paper

Cite this paper

Fourquet, JY., Renaud, M. (2000). Coordinated control of a nonholonomic mobile manipulator. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119393

Download citation

  • DOI: https://doi.org/10.1007/BFb0119393

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation