Authors: JiChul Ryu Sunil K Agrawal
Publish Date: 2010/04/15
Volume: 29, Issue: 1, Pages: 35-52
Abstract
Mobile manipulators are intrinsically nonholonomic systems since the mobile base is subject to nonholonomic constraints that result from noslip constraints on the wheels The highly nonlinear dynamic coupling between the mobile base and the manipulator arm in addition to the nonholonomic constraints at the base makes these systems difficult to plan and control If the system is underactuated the problem becomes even more difficultIn this paper using a special inertia distribution on the manipulator arm the differential flatness property of mobile manipulators is achieved An integrated planning and control methodology is presented for two different types of underactuated planar mobile manipulators with a twowheeled differentially driven mobile base and with a carlike mobile base respectively A mobile manipulator with either of the two bases is shown to be differentially flat In addition this paper shows that a wide range of underactuated arm designs results in differential flatness Through illustrative examples of underactuated twolink planar mobile manipulators it is demonstrated that with the differential flatness property the trajectory planning and feedback controller design problem can be solved in an efficient and simplified way
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