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Whole-body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra

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Abstract

This paper presents the whole-body control of a nonholonomic mobile manipulator using feedback linearization and dual quaternion algebra. The controller, whose reference is a unit dual quaternion representing the desired end-effector pose, acts as a dynamic trajectory generator for the end-effector, and input signals for both nonholonomic mobile base and manipulator arm are generated by using the pseudoinverse of the whole-body Jacobian matrix. In order to deal with the nonholonomic constraints, the input signal to the mobile base generated by the whole-body motion control is properly remapped to ensure feasibility. The Lyapunov stability for the proposed controller is presented and experimental results on a real platform are performed in order to compare the proposed scheme to a traditional classic whole-body linear kinematic controller. The results show that, for similar convergence rate, the nonlinear controller is capable of generating smoother movements while having lower control effort than the linear controller.

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Acknowledgments

This work was supported by Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES), Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq), and Fundação de Amparo à Pesquisa de Minas Gerais (FAPEMIG).

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Authors and Affiliations

  1. The Graduate Program in Electrical Engineering, Federal University of Minas Gerais (UFMG), Av. Antônio Carlos 6627, 31270-901, Belo, Horizonte-MG, Brazil

    Frederico Fernandes Afonso Silva

  2. The Department of Electrical Engineering, Federal University of Minas Gerais (UFMG), Av. Antônio Carlos 6627, 31270-901, Belo, Horizonte-MG, Brazil

    Bruno Vilhena Adorno

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  1. Frederico Fernandes Afonso Silva
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  2. Bruno Vilhena Adorno
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Correspondence to Bruno Vilhena Adorno.

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Silva, F.F.A., Adorno, B.V. Whole-body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra. J Intell Robot Syst 91, 249–262 (2018). https://doi.org/10.1007/s10846-017-0686-3

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  • DOI: https://doi.org/10.1007/s10846-017-0686-3

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