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  Kinematic Modeling and Redundancy Resolution for Nonholonomic Mobile Manipulators

De Luca, A., Oriolo, G., & Robuffo Giordano, P. (2006). Kinematic Modeling and Redundancy Resolution for Nonholonomic Mobile Manipulators. In 2006 IEEE International Conference on Robotics and Automation (pp. 1867-1873). Piscataway, NJ, USA: IEEE Operations Center.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-D1E5-B Version Permalink: http://hdl.handle.net/21.11116/0000-0004-9AB1-6
Genre: Conference Paper

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 Creators:
De Luca, A, Author
Oriolo, G, Author
Robuffo Giordano, P1, Author              
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: We consider robotic systems made of a nonholonomic mobile platform carrying a manipulator (nonholonomic mobile manipulator, NMM). By combining the manipulator differential kinematics with the admissible differential motion of the platform, a simple and general kinematic model for NMMs is derived. Assuming that the robotic system is kinematically redundant for a given task, we present the extension of redundancy resolution schemes originally developed for standard manipulators, in particular the Projected Gradient (PG) and the Reduced Gradient (RG) optimization-based methods. The case of a configuration-dependent task specification is also discussed. The proposed modeling approach is illustrated with reference to representative NMMs, and the performance of the PG and RG methods for redundancy resolution is compared on a series of numerical case studies.

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 Dates: 2006-05
 Publication Status: Published in print
 Pages: -
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 Rev. Method: -
 Identifiers: BibTex Citekey: 5565
DOI: 10.1109/ROBOT.2006.1641978
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Title: IEEE International Conference on Robotics and Automation (ICRA 2006)
Place of Event: Orlando, FL, USA
Start-/End Date: 2006-05-15 - 2006-05-19

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Title: 2006 IEEE International Conference on Robotics and Automation
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE Operations Center
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1867 - 1873 Identifier: ISBN: 0-7803-9505-0