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Article: Integrated task planning and control for mobile manipulators

TitleIntegrated task planning and control for mobile manipulators
Authors
KeywordsMobile manipulation
Manipulation of moving objects with non-holonomic constraints
Coordination
Force/position control
Issue Date2003
Citation
International Journal of Robotics Research, 2003, v. 22, n. 5, p. 337-354 How to Cite?
AbstractIn this paper we present an approach to decoupled force/position control of the end-effector along the same direction for redundant robots, and an approach to nonholonomic cart pushing with mobile manipulators. The mobile manipulator is considered as a redundant robot, and a unified dynamic model for an integrated mobile platform and on-board manipulator is developed. The dynamic model is decoupled and linearized using the nonlinear feedback technique in a unified frame. Combining the event-based planning and control method with singularity analysis of the robot arm, a task level action controller is designed and an online kinematic redundancy resolution scheme is developed. The system is stable during normal operation as well as at the occurrence of unexpected obstacles. In addition, explicit force/position control along the same task direction for redundant robots is proposed. The kinematic redundancy of mobile manipulators enables independent control of force and position along the same task directions. To verify the decoupled force/post ion scheme, an integrated task planning and control approach is further proposed for the mobile manipulator to complete complicated tasks by regulating its output force. A cart pushing task, which requires both force and position control along the same task direction, is discussed. The cart manipulation task fully integrates trajectory and force planning of the cart, and planning and control of the mobile manipulators. The approaches have been tested on a mobile manipulator consisting of a Nomadic XR4000 and a Puma 560 robot arm. The experimental results demonstrate the efficacy of the approach for the mobile manipulation of a nonholonomic cart.
Persistent Identifierhttp://hdl.handle.net/10722/212765
ISSN
2015 Impact Factor: 2.489
2015 SCImago Journal Rankings: 4.184

 

DC FieldValueLanguage
dc.contributor.authorTan, Jindong-
dc.contributor.authorXi, Ning-
dc.contributor.authorWang, Yuechao-
dc.date.accessioned2015-07-28T04:04:56Z-
dc.date.available2015-07-28T04:04:56Z-
dc.date.issued2003-
dc.identifier.citationInternational Journal of Robotics Research, 2003, v. 22, n. 5, p. 337-354-
dc.identifier.issn0278-3649-
dc.identifier.urihttp://hdl.handle.net/10722/212765-
dc.description.abstractIn this paper we present an approach to decoupled force/position control of the end-effector along the same direction for redundant robots, and an approach to nonholonomic cart pushing with mobile manipulators. The mobile manipulator is considered as a redundant robot, and a unified dynamic model for an integrated mobile platform and on-board manipulator is developed. The dynamic model is decoupled and linearized using the nonlinear feedback technique in a unified frame. Combining the event-based planning and control method with singularity analysis of the robot arm, a task level action controller is designed and an online kinematic redundancy resolution scheme is developed. The system is stable during normal operation as well as at the occurrence of unexpected obstacles. In addition, explicit force/position control along the same task direction for redundant robots is proposed. The kinematic redundancy of mobile manipulators enables independent control of force and position along the same task directions. To verify the decoupled force/post ion scheme, an integrated task planning and control approach is further proposed for the mobile manipulator to complete complicated tasks by regulating its output force. A cart pushing task, which requires both force and position control along the same task direction, is discussed. The cart manipulation task fully integrates trajectory and force planning of the cart, and planning and control of the mobile manipulators. The approaches have been tested on a mobile manipulator consisting of a Nomadic XR4000 and a Puma 560 robot arm. The experimental results demonstrate the efficacy of the approach for the mobile manipulation of a nonholonomic cart.-
dc.languageeng-
dc.relation.ispartofInternational Journal of Robotics Research-
dc.subjectMobile manipulation-
dc.subjectManipulation of moving objects with non-holonomic constraints-
dc.subjectCoordination-
dc.subjectForce/position control-
dc.titleIntegrated task planning and control for mobile manipulators-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0037983790-
dc.identifier.volume22-
dc.identifier.issue5-
dc.identifier.spage337-
dc.identifier.epage354-

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