NDLI: Analysis and Verification of Repetitive Motion Planning and Feedback Control for Omnidirectional Mobile Manipulator Robotic Systems

Content Provider	Springer Nature Link
Author	Zhang, Yung Li, Weibing Liao, Bolin Guo, Dongsheng Peng, Chen
Copyright Year	2014
Abstract	Mobile manipulator robotic systems (MMRSs) composed of a manipulator and a mobile platform are investigated in this paper. In order for the mobile manipulator robotic system (MMRS) to return to its initial state when the manipulator’s end-effector is requested to execute cyclical tasks, a quadratic program (QP) based repetitive motion planning and feedback control (RMPFC) scheme is proposed and analyzed. Such an RMPFC scheme can not only mix motion planning and reactive control, but also consider the physical limits of the robotic system. Mathematically, the efficacy of the RMPFC scheme is verified via gradient dynamics analysis. To further demonstrate the effectiveness of the RMPFC scheme, a kinematically redundant MMRS composed of a three degrees-of-freedom (DOF) planar manipulator and an omnidirectional mobile platform is designed, modeled and analyzed. Then, repetitive motion planning and feedback control for the designed omnidirectional MMRS is studied. Besides, a numerical algorithm is developed and presented to solve the QP and resolve the redundancy of the robotic system. Moreover, computer simulations are comparatively performed on such an omnidirectional MMRS, and simulation results substantiate the effectiveness, accuracy and superiority of the proposed RMPFC scheme.
Starting Page	393
Ending Page	411
Page Count	19
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	75
Issue Number	3-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2014-01-25
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Mobile manipulator robotic system Quadratic program Repetitive motion planning Feedback control Numerical algorithm Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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