A General Approach to the Dynamics of Nonholonomic Mobile Manipulator Systems

2002 ◽  
Vol 124 (4) ◽  
pp. 512-521 ◽  
Author(s):  
Qing Yu ◽  
I-Ming Chen
Keyword(s):  
Multibody Systems ◽  
Equations Of Motion ◽  
Nonholonomic Constraints ◽  
Mobile Platform ◽  
Mobile Manipulator ◽  
Dynamic Interactions ◽  
Dynamics Of Multibody Systems ◽  
Minimum Number ◽  
Simulation And Control ◽  
And Control

This paper studies the dynamic modeling of a nonholonomic mobile manipulator that consists of a multi-degree of freedom serial manipulator and an autonomous wheeled mobile platform. The manipulator is rigidly mounted on the mobile platform, and the wheeled mobile platform moves on the ground subjected to nonholonomic constraints. Forward Recursive Formulation for the dynamics of multibody systems is employed to obtain the governing equation of the mobile manipulator system. The approach fully utilizes the existing equations of motion of the manipulator and that of the mobile platform. Furthermore, terms representing the dynamic interactions between the manipulator and the mobile platform can be observed. The resulting dynamic equation of the mobile manipulator has the minimum number of generalized coordinates and can be used for the purpose of dynamic simulation and control design, etc. The implementation issues of the model are discussed.

scholarly journals Closed-form time derivatives of the equations of motion of rigid body systems

2021 ◽  
Author(s):  
Andreas Müller ◽  
Shivesh Kumar
Keyword(s):  
Rigid Body ◽  
Closed Form ◽  
Multibody Systems ◽  
Equations Of Motion ◽  
Alternative Formulation ◽  
Dynamics Of Rigid Body ◽  
Control Forces ◽  
And Control ◽  
Derivatives Of ◽  
Insight Into

AbstractDerivatives of equations of motion (EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody systems comprising elastic components in particular, not only requires smooth trajectories but also the time derivatives of the control forces/torques, hence of the EOM. This paper presents the time derivatives of the EOM in closed form up to second-order as an alternative formulation to the existing recursive algorithms for this purpose, which provides a direct insight into the structure of the derivatives. The Lie group formulation for rigid body systems is used giving rise to very compact and easily parameterized equations.

Motion Planning of a Nonholomonic Mobile Manipulator for Moving Object Grasping

2013 ◽  
Vol 380-384 ◽  
pp. 591-594
Author(s):  
Nai Jian Chen ◽  
Fang Zhen Song ◽  
Hong Hua Zhao ◽  
Ying Jun Li
Keyword(s):  
Motion Planning ◽  
Obstacle Avoidance ◽  
Moving Objects ◽  
Nonholonomic Constraints ◽  
Moving Object ◽  
Experimental Results ◽  
Mobile Platform ◽  
Planning System ◽  
Mobile Manipulator

This paper studies a nonholonomic mobile manipulator that consists of a wheeled mobile platform with a mounted serial manipulator. It is designed and developed to navigate autonomously in handling moving objects subjected to nonholonomic constraints. A camera is mounted on the front of the platform and employed to identify and collect information about distance, velocity and direction of the object. With that information collected, a motion planning system determines the preferred operation region and the obstacle-avoidance area, and thus generates the expected trajectory of the mobile manipulator. Experimental results are shown that the mobile manipulator can identify the target, generate trajectories and grasp the moving object autonomously.

Trajectory control of a mobile manipulator in the presence of base disturbance

SIMULATION ◽  
2018 ◽  
Vol 95 (6) ◽  
pp. 529-543 ◽  
Author(s):  
RV Ram ◽  
PM Pathak ◽  
SJ Junco
Keyword(s):  
Mobile Robot ◽  
Dynamic Models ◽  
Control Strategies ◽  
Effective Control ◽  
Mobile Manipulator ◽  
Dynamic Interactions ◽  
Additional Task ◽  
Manipulator Arm ◽  
And Control ◽  
Base Disturbance

A mobile manipulator is typically an assembly of a mobile robot base and an on-board manipulator arm. As the manipulator arm is mounted over the mobile robot base, the controller has the additional task of taking care of the disturbances of the mobile robot due to the dynamic interactions between the mobile robot base and manipulator arm. In the present work, dynamic models for the manipulator arm and an omni-wheeled mobile robot base were developed separately and then both were combined. Two control strategies, namely only manipulator arm control (OMAC) and simultaneous manipulator and base control (SMBC) were developed for the effective control of tip trajectory. In both strategies, an amnesia recovery coupled with classical proportional integral and derivative (PID) control was used. The bond graph methodology was used for the development of the dynamic model and control for the mobile manipulator. Simulation results are presented to illustrate the efficacy of the two control strategies.

scholarly journals A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 441
Author(s):  
Daniel Feliu-Talegon ◽  
Andres San-Millan ◽  
Vicente Feliu-Batlle
Keyword(s):  
Control Strategy ◽  
Mechanical Design ◽  
Kinematic Model ◽  
Mobile Platform ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
The Real ◽  
And Control ◽  
Mobile Base

This work is concerned with the mechanical design and the description of the different components of a new mobile base for a lightweight mobile manipulator. These kinds of mobile manipulators are normally composed of multiple lightweight links mounted on a mobile platform. This work is focused on the description of the mobile platform, the development of a new kinematic model and the design of a control strategy for the system. The proposed kinematic model and control strategy are validated by means of experimentation using the real prototype. The workspace of the system is also defined.

Sub-optimal trajectory planning for mobile manipulators

Robotica ◽  
2014 ◽  
Vol 33 (6) ◽  
pp. 1181-1200 ◽  
Author(s):  
Grzegorz Pajak ◽  
Iwona Pajak
Keyword(s):  
Optimal Trajectory ◽  
Control Algorithm ◽  
Nonholonomic Constraints ◽  
Mobile Manipulator ◽  
Reference Trajectory ◽  
Mobile Manipulators ◽  
Control Constraints ◽  
Manipulability Measure ◽  
And Control ◽  
Optimal Trajectory Planning

SUMMARYThis paper presents a method of planning a sub-optimal trajectory for a mobile manipulator subject to mechanical and control constraints. The path of the end-effector is defined as a curve that can be parameterised by any scaling parameter—the reference trajectory of a mobile platform is not needed. Constraints connected with the existence of mechanical limits for a given manipulator configuration, collision avoidance conditions and control constraints are considered. Nonholonomic constraints in a Pfaffian form are explicitly incorporated to the control algorithm. To avoid manipulator singularities, the motion of the robot is planned in order to maximise the manipulability measure.

scholarly journals Collision-Free Trajectory Planning for Mobile Manipulators Subject to Control Constraints

2014 ◽  
Vol 61 (1) ◽  
pp. 35-55
Author(s):  
Grzegorz Pajak ◽  
Iwona Pajak
Keyword(s):  
Three Dimensional ◽  
Nonholonomic Constraints ◽  
Mobile Manipulator ◽  
Reference Trajectory ◽  
Mobile Manipulators ◽  
Control Constraints ◽  
Redundancy Resolution ◽  
Manipulability Measure ◽  
Point To Point ◽  
And Control

Abstract A method of planning collision-free trajectory for a mobile manipulator tracking a line section path is presented. The reference trajectory of a mobile platform is not needed, mechanical and control constraints are taken into account. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. Nonholonomic constraints in a Pfaffian form are explicitly incorporated to the control algorithm. The problem is shown to be equivalent to some point-to-point control problem whose solution may be easier determined. The motion of the mobile manipulator is planned in order to maximise the manipulability measure, thus to avoid manipulator singularities. A computer example involving a mobile manipulator consisting of a nonholonomic platform (2,0) class and a 3 DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.

An Ordinary Differential Equation Formulation for Multibody Dynamics: Nonholonomic Constraints

2016 ◽  
Vol 17 (1) ◽  
Author(s):  
Edward J. Haug
Keyword(s):  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Multibody Systems ◽  
Mass Matrix ◽  
Equations Of Motion ◽  
Computational Cost ◽  
Nonholonomic Constraints ◽  
State Variables ◽  
Well Conditioning ◽  
Fifth Order

A method is presented for formulating and numerically integrating ordinary differential equations of motion for nonholonomically constrained multibody systems. Tangent space coordinates are defined in configuration and velocity spaces as independent generalized coordinates that serve as state variables in the formulation, yielding ordinary differential equations of motion. Orthogonal-dependent coordinates and velocities are used to enforce constraints at position, velocity, and acceleration levels. Criteria that assure accuracy of constraint satisfaction and well conditioning of the reduced mass matrix in the equations of motion are used as the basis for updating local coordinates on configuration and velocity constraint manifolds, transparent to the user and at minimal computational cost. The formulation is developed for multibody systems with nonlinear holonomic constraints and nonholonomic constraints that are linear in velocity coordinates and nonlinear in configuration coordinates. A computational algorithm for implementing the approach is presented and used in the solution of three examples: one planar and two spatial. Numerical results using a fifth-order Runge–Kutta–Fehlberg explicit integrator verify that accurate results are obtained, satisfying all the three forms of kinematic constraint, to within error tolerances that are embedded in the formulation.

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