Path Following for Mobile Manipulators
| dc.contributor.author | Gill, Rajan | |
| dc.contributor.author | Kulic, Dana | |
| dc.contributor.author | Nielsen, Christopher | |
| dc.date.accessioned | 2021-09-23T13:20:08Z | |
| dc.date.available | 2021-09-23T13:20:08Z | |
| dc.date.issued | 2017-07-25 | |
| dc.description | This is a post-peer-review, pre-copyedit version of an article published in Robotics Research. The final authenticated version is available online at: http://dx.doi.org/https://doi.org/10.1007/978-3-319-60916-4_30 | en |
| dc.description.abstract | This paper presents a framework of path following via set stabilization for mobile manipulator systems. The mobile manipulator is modelled as a single redundant dynamic system. The mobile base considered belongs to a large class of wheeled ground vehicles, including those with nonholonomic constraints. Kinematic redundancies are resolved by designing a controller that solves a suitably defined constrained quadratic optimization problem, which can be easily tuned by the designer to achieve various desired poses. By employing partial feedback linearization, the proposed path following controller has a clear physical meaning. The desired path to be followed is a spline in the output space of the system. The controller simultaneously controls the manipulator and mobile base. The result is a unified path following controller without any trajectory planning performed on the mobile base. The approach is experimentally verified on a 4-degree-of-freedom (4-DOF) manipulator mounted on a differential drive mobile platform | en |
| dc.identifier.uri | https://doi.org/10.1007/978-3-319-60916-4_30 | |
| dc.identifier.uri | http://hdl.handle.net/10012/17487 | |
| dc.language.iso | en | en |
| dc.publisher | Springer | en |
| dc.relation.ispartofseries | Robotics Research: Volume 2; | |
| dc.title | Path Following for Mobile Manipulators | en |
| dc.type | Book Chapter | en |
| dcterms.bibliographicCitation | Gill, R., Kulić, D., & Nielsen, C. (2018). Path Following for Mobile Manipulators. In A. Bicchi & W. Burgard (Eds.), Robotics Research: Volume 2 (pp. 527–544). Springer International Publishing. https://doi.org/10.1007/978-3-319-60916-4_30 | en |
| uws.contributor.affiliation1 | Faculty of Engineering | en |
| uws.contributor.affiliation2 | Electrical and Computer Engineering | en |
| uws.peerReviewStatus | Reviewed | en |
| uws.scholarLevel | Faculty | en |
| uws.typeOfResource | Text | en |