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Robust Interaction Control of a Mobile Manipulator – Dynamic Model Based Coordination

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Abstract

This paper discusses the modeling and control of a spatial mobile manipulator which consists of a robotic manipulator mounted upon a wheeled mobile platform. The nonholonomic model, which assumes perfect contact between the wheels and the ground, is obtained using the Lagrange–d'Alembert formulation. Also, the dynamic model, which considers slip of the platform's tires, is developed using the Newton–Euler method and incorporates Dugoff's tire friction model. The complexity of the model is increased by introducing kinematic redundancy which is created when a multi-linked manipulator is used. The kinematic redundancy is resolved by decomposing the mobile manipulator into two subsystems; the mobile platform and the manipulator. Based on the coordination scheme used to resolve the kinematic redundancy, a robust interaction control algorithm, in which suitable controllers are designed for the two subsystems, is developed and applied. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a robust control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. Simulation results show the promise of the developed algorithm.

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Authors and Affiliations

  1. Department of Mechanical and Aeronautical Engineering, University of California, Davis, Davis, CA, 95616, USA

    Jae H. Chung & Steven A. Velinsky

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  1. Jae H. Chung
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  2. Steven A. Velinsky
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Chung, J.H., Velinsky, S.A. Robust Interaction Control of a Mobile Manipulator – Dynamic Model Based Coordination. Journal of Intelligent and Robotic Systems 26, 47–63 (1999). https://doi.org/10.1023/A:1008130606534

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