INTERACTION CONTROL OF A REDUNDANT MOBILE MANIPULATOR

This paper discusses the modeling and control of a spatial mobile mani pulator that consists of a robotic manipulator mounted on a wheeled mo bile platform. The Lagrange-d'Alembert formulation is used to obtain a concise description of the dynamics of the system, which is subject t o nonholonomic constraints. The complexity of the model is increased b y introducing kinematic redundancy, which is created when a multilinke d manipulator is used The kinematic redundancy is resolved by decompos ing the mobile manipulator into two subsystems: the mobile platform an d the manipulator The redundancy resolution scheme employs a non linea r interaction-control algorithm, which is developed and applied to coo rdinate the two subsystems' controllers. The subsystem controllers are independently designed, based on each subsystem's dynamic characteris tics. Simulation results show the promise of the developed algorithm.