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A control theory framework for performance evaluation of mobile manipulators

Published online by Cambridge University Press:  01 November 2007

Katarzyna Zadarnowska  and
Krzysztof Tchoń
Katarzyna Zadarnowska*
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, 50-372 Wrocław, Poland
Krzysztof Tchoń
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, 50-372 Wrocław, Poland
*
*Corresponding author. E-mail: kz@ict.pwr.wroc.pl
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Summary

We propose a new, control theoretic methodology for defining performance measures of mobile manipulators. As a guiding principle, we assume that the kinematics or the dynamics of a mobile manipulator are represented by the end point map of a control system with outputs, and that a locally controllable system yields nontrivial performance measures. In the paper, we focus on two categories of dynamic performance measures: the compliance measure and the admittance measure. In both these categories, the following local and global performance characteristics are introduced: the agility ellipsoid, the agility and mobility, the condition number and the distortion. The usefulness of new local measures is demonstrated on the example of determining optimal motion patterns of a wheeled mobile robot.

Keywords

Mobile manipulatorperformancecontrol systemGram matrixcomplianceadmittance
Type
Article
Information
Robotica , Volume 25 , Issue 6 , November 2007 , pp. 703 - 715
Copyright
Copyright © Cambridge University Press 2007

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