Coordinated control of a nonholonomic mobile manip

Authors: JeanYves Fourquet Marc Renaud

Publish Date: 2000

Volume: , Issue: , Pages: 139-149

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Abstract

In this paper we present a control algorithm for a nonholonomic mobile manipulator built from a n joints robot manipulator mounted on a nonholonomic mobile platform We want the manipulator endeffector location position and orientation to evolve between starting and final required locations and to follow a required trajectory defined as a function of the time We describe a global control which calculates the generalized coordinates for both the manipulator and the platform Two types of control are presented the first uses a set of additional tasks and the second minimizes a quadratic criterion A comparison between these two types is made on an academic mobile manipulator which consists of a doublependulum mounted on the platform The implementation of the first type is made on a real mobile manipulator which consists of the GT6A six revolute joints manipulator mounted on the HILARE H2bis platform

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