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Physical-limits-constrained minimum velocity norm coordinating scheme for wheeled mobile redundant manipulators

Published online by Cambridge University Press:  01 April 2014

Yunong Zhang ,
Weibing Li  and
Zhijun Zhang
Yunong Zhang*
Affiliation:
School of Information Science and Technology, Sun Yat-sen University, Guangzhou 510006, China Research Institute of Sun Yat-sen University in Shenzhen, Shenzhen 518057, China
Weibing Li
Affiliation:
School of Information Science and Technology, Sun Yat-sen University, Guangzhou 510006, China
Zhijun Zhang
Affiliation:
School of Information Science and Technology, Sun Yat-sen University, Guangzhou 510006, China
*
*Corresponding author. Emails: zhynong@mail.sysu.edu.cn, jallonzyn@sina.com
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Summary

In order to resolve the redundancy of a wheeled mobile redundant manipulator comprising a two-wheel-drive mobile platform and a 6-degree-of-freedom manipulator, a physical-limits-constrained (PLC) minimum velocity norm (MVN) coordinating scheme (termed as PLC-MVN-C scheme) is proposed and investigated. Such a scheme can not only coordinate the mobile platform and the manipulator to fulfill the end-effector task and to achieve the desired optimal index (i.e., minimizing the norm of the rotational velocities of the wheels and the joint velocities of the manipulator) but also consider the physical limits of the robot (i.e., the joint-angle limits and joint-velocity limits of the manipulator as well as the rotational velocity limits of the wheels). The scheme is then reformulated as a quadratic program (QP) subject to equality and bound constraints, and is solved by a discrete QP solver, i.e., a numerical algorithm based on piecewise-linear projection equations (PLPE). Simulation results substantiate the efficacy and accuracy of such a PLC-MVN-C scheme and the corresponding discrete PLPE-based QP solver.

Keywords

Mobile robotRedundant manipulatorQuadratic program (QP)Redundancy resolutionCoordinated motion planning
Type
Articles
Information
Robotica , Volume 33 , Issue 6 , July 2015 , pp. 1325 - 1350
Copyright
Copyright © Cambridge University Press 2014 

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