Dynamic redundancy resolution for mobile manipulators with joints velocity limits avoidance

In this paper, we present a dynamic redundancy resolution technique for mobile manipulator subject to joint velocity limits. First, the dynamic model of the mobile manipulator in feasible motion space is given. Next, a control algorithm is proposed which completely decouples the motion of the system into the end-effector motion in the task space and the internal motion in the null space and controls them in prioritized basis with priority given to the primary task space and enables the selection of characteristics in both subspaces separately. A special attention is given to the joints velocity limits avoidance where a normalized measure is proposed to solve problems inherent to velocity limits of the system. Simulation results are given to illustrate the coordination of two subsystems in executing the desired trajectory without violating the joint velocity limits.