A Unified Approach to Motion Control of Mobile Manipulators
A Unified Approach to Motion Control of Mobile Manipulators
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DOI：
10.1177/027836499801700201
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发表时间：
1998-02
期刊：
影响因子：
--
通讯作者：
H. Seraji
中科院分区：
文献类型：
--
作者：
H. Seraji
本文提出了一种简单的移动的机械手的在线运动控制方法，该机械手包括一个安装在移动的基座上的机械臂。所提出的方法同样适用于非完整移动的机器人，如漫游者安装的机械手和完整的移动的机器人，如履带式机器人和复合机械手。对于轮式移动的机器人，非完整基础约束直接纳入到任务制定的运动学约束。的配置控制方法是扩展到利用冗余引入的基础的移动性，以执行一组用户指定的附加任务，在末端执行器的运动，同时满足非完整的基础约束（如果适用）。该方法以统一的方式处理基本非完整性和运动冗余，以制定新的任务约束。所提出的控制方案的计算效率，使其特别适合于实时实现。两个仿真研究，以证明应用程序的运动控制方案的机器人安装臂（非完整系统）和履带式机器人（完整系统）。
This paper presents a simple on-line approach for motion control of mobile manipulators comprising a manipulator arm mounted on a mobile base. The proposed approach is equally applicable to nonholonomic mobile robots such as rover-mounted manipulators and holonomic mobile robots such as tracked robots and compound manipulators. For wheeled mobile robots, the nonholonomic base constraints are incorporated directly into the task formulation as kinematic constraints. The configuration control approach is ex tended to exploit the redundancy introduced by the base mobility to perform a set of user-specified additional tasks during the end- effector motion while satisfying the nonholonomic base constraints (if applicable). This approach treats the base nonholonomy and the kinematic redundancy in a unified manner to formulate new task constraints. The computational efficiency of the proposed control scheme makes it particularly suitable for real-time implementation. Two simulation studies are presented to demonstrate the applica tions of the motion control scheme to a rover-mounted arm (non holonomic system) and to a tracked robot (holonomic system).