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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.
