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Kinematic dexterity of mobile manipulators: an endogenous configuration space approach

Published online by Cambridge University Press:  02 March 2021

Krzysztof Tchoń  and
Katarzyna Zadarnowska
Krzysztof Tchoń
Affiliation:
Institute of Engineering Cybernetics, Wroclaw University of Technology, ul. Janiszewskiego 11/17, 50–372 Wroclaw (Poland). E-mail: {tchon,kz}@ict.pwr.wroc.pl
Katarzyna Zadarnowska
Affiliation:
Institute of Engineering Cybernetics, Wroclaw University of Technology, ul. Janiszewskiego 11/17, 50–372 Wroclaw (Poland). E-mail: {tchon,kz}@ict.pwr.wroc.pl
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Summary

A mobile manipulator is treated as a robotic system composed of a non-holonomic mobile platform and a holonomic manipulator mounted on the platform. The kinematics of the mobile manipulator can be represented as a driftless control system with outputs. By adopting the endogenous configuration space approach we propose two kinematic dexterity measures, called local and global dexterity. The local dexterity, modeled upon the manipulability of stationary manipulators, indicates how infinitesimal motions in the configuration space propagate to the taskspace of the mobile manipulator. The global dexterity corresponds to L2-norm of the local dexterity over a prescribed region of the configuration space. Advantages of the endogenous dexterity measures over traditional performance measures of mobile manipulators known from the literature are described. Both the dexterities are employed for determining optimal configurations and optimal geometries of an exemplary mobile manipulator.

Keywords

Mobile manipulatorKinematicsEndogenous configurationDexterityOptimal design
Type
Research Article
Information
Robotica , Volume 21 , Issue 5 , October 2003 , pp. 521 - 530
Copyright
Copyright © Cambridge University Press 2003

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