Title :
Motion control of nonholonomic mobile underactuated manipulator
Author :
Li, Zhijun ; Ming, Aiguo ; Xi, Ning ; Shimojo, Makoto
Author_Institution :
Dept. of Mech. & Control Eng., Univ. of Electro-Commun., Chofu
Abstract :
Motion control is investigated for a nonholonomic mobile manipulator using hybrid joints, which could be switched to either active (actuated) or passive (underactuated) mode. The mobile platform is driven with two independent wheels and the arm has hybrid joints in the horizontal plane. The dynamic constraints are shown to be a first-order nonholonomic for the mobile base and a second-order nonholonomic for the link when one of hybrid joints is underactuated. Two Different motion control methods for mobile underactuated manipulator with one passive joint are proposed. Simulation and experimental studies show the effectiveness of the proposed methods
Keywords :
manipulator dynamics; motion control; first-order nonholonomic dynamic constraints; hybrid joints; motion control; nonholonomic mobile underactuated manipulator; second-order nonholonomic constraints; Acceleration; Actuators; Control systems; Differential equations; Manipulator dynamics; Mobile robots; Motion control; Robot kinematics; Safety; Torque;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642238
