Coordinated Control of a Mobile Manipulator

In this technical report, we investigate modeling, control, and coordination of mobile manipulators. A mobile manipulator in this study consists of a robotic manipulator and a mobile platform, with the manipulator being mounted atop the mobile platform. A mobile manipulator combines the dextrous manipulation capability offered by fixed-base manipulators and the mobility offered by mobile platforms. While mobile manipulators offer a tremendous potential for flexible material handling and other tasks, at the same time they bring about a number of challenging issues rather than simply increasing the structural complexity. First, combining a manipulator and a platform creates redundancy. Second, a wheeled mobile platform is subject to nonholonomic constraints. Third, there exists dynamic interaction between the manipulator and the mobile platform. Fourth, manipulators and mobile platforms have different bandwidths. Mobile platforms typically have slower dynamic response than manipulators. The objective of the thesis is to develop control algorithms that effectively coordinate manipulation and mobility of mobile manipulators. We begin with deriving the motion equations of mobile manipulators. The derivation presented here makes use of the existing motion equations of manipulators and mobile platforms, and simply introduces the velocity and acceleration dependent terms that account for the dynamic interaction between manipulators and mobile platforms. Since nonholonomic constraints play a critical role in control of mobile manipulators, we then study the control properties of nonholonomic dynamic systems, including feedback linearization and internal dynamics. Based on the newly proposed concept of preferred operating region, we develop a set of coordination algorithms for mobile manipulators. While the manipulator performs manipulation tasks, the mobile platform is controlled to always bring the configuration of the manipulator into a preferred operating region. The control algorithms for two types of tasks dragging motion and following motion are discussed in detail. The effects of dynamic interaction are also investigated. To verify the efficacy of the coordination algorithms, we conduct numerical simulations with representative task trajectories. Additionally, the control algorithms for the dragging motion and following motion have been implemented on an experimental mobile manipulator. The results from the simulation and experiment are presented to support the proposed control algorithms. Comments University of Pennsylvania Department of Computer and Information Science Technical Report No. MSCIS-94-12. This technical report is available at ScholarlyCommons: https://repository.upenn.edu/cis_reports/240 Coordinated Control of a Mobile Manipulator MS-CIS-94-12 GRASP LAB 371

[1]  W. Boothby.  An introduction to differentiable manifolds and Riemannian geometry , 1975 .

[2]  John F. Canny,et al.  Planning smooth paths for mobile robots , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[3]  Bernard Roth,et al.  Analysis of Multifingered Hands , 1986 .

[4]  Warren P. Seering,et al.  Understanding bandwidth limitations in robot force control , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[5]  M.B. Friedman,et al.  The servo-control system for an omnidirectional mobile robot , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[6]  Alessandro De Luca,et al.  Zero Dynamics in Robotic Systems , 1991 .

[7]  S. Sastry,et al.  Steering nonholonomic systems using sinusoids , 1990, 29th IEEE Conference on Decision and Control.

[8]  T R Kane,et al.  Experimental investigation of an astronaut maneuvering scheme. , 1972, Journal of biomechanics.

[9]  J. Descusse,et al.  Dynamic decoupling for right-invertible nonlinear systems , 1987 .

[10]  Zexiang Li,et al.  Motion of two rigid bodies with rolling constraint , 1990, IEEE Trans. Robotics Autom..

[11]  Rodney A. Brooks,et al.  Visual map making for a mobile robot , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[12]  Georges Bastin,et al.  A hybrid strategy for the feedback stabilization of nonholonomic mobile robots , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[13]  Claude Samson,et al.  Feedback control of a nonholonomic wheeled cart in Cartesian space , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[14]  Homayoun Seraji,et al.  An on-line approach to coordinated mobility and manipulation , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[15]  Ingemar J. Cox,et al.  Autonomous Robot Vehicles , 1990, Springer New York.

[16]  Jean-Baptiste Pomet.  Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift , 1992 .

[17]  Charles P. Neuman,et al.  Properties and structure of dynamic robot models for control engineering applications , 1985 .

[18]  Richard Alan Volpe,et al.  Real and Artificial Forces in the Control of Manipulators: Theory and Experiments , 1990 .

[19]  H. Harry Asada,et al.  Design of a holonomic omnidirectional vehicle , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[20]  G. Campion,et al.  On Adaptive Linearizing Control of Omnidirectional Mobile Robots , 1990 .

[21]  Ingemar J. Cox,et al.  Dynamic Map Building for an Autonomous Mobile Robot , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[22]  Yoshihiko Nakamura,et al.  Nonholonomic path planning of space robots , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[23]  R. W. Brockett,et al.  Asymptotic stability and feedback stabilization , 1982 .

[24]  Evangelos Papadopoulos,et al.  Nonholonomic Behavior in Free-floating Space Manipulators and its Utilization , 1993 .

[25]  O. J. Sordalen,et al.  Exponential stabilization of mobile robots with nonholonomic constraints , 1992 .

[26]  Anthony M. Bloch,et al.  Control of mechanical systems with classical nonholonomic constraints , 1989, Proceedings of the 28th IEEE Conference on Decision and Control,.

[27]  David J. Kriegman,et al.  A mobile robot: Sensing, planning and locomotion , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[28]  A. Bloch,et al.  Controllability and stabilizability properties of a nonholonomic control system , 1990, 29th IEEE Conference on Decision and Control.

[29]  Jean-Jacques E. Slotine,et al.  Robot analysis and control , 1988, Autom..

[30]  Frank L. Lewis,et al.  Application of robust control techniques to a mobile robot system , 1992, J. Field Robotics.

[31]  J. Salisbury,et al.  Active stiffness control of a manipulator in cartesian coordinates , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[32]  W. E. Schmitendorf,et al.  Analytical dynamics of discrete systems , 1977 .

[33]  A. Isidori.  Nonlinear Control Systems: An Introduction , 1986 .

[34]  Richard M. Murray,et al.  Steering nonholonomic systems in chained form , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[35]  Neville Hogan,et al.  An analysis of contact instability in terms of passive physical equivalents , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[36]  Ole Jakob Sørdalen,et al.  Conversion of the kinematics of a car with n trailers into a chained form , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[37]  Stephen J. Bartholet,et al.  The evolution of the application of mobile robotics to nuclear facility operations and maintenance , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[38]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[39]  Zexiang Li,et al.  Smooth Time-Periodic Feedback Solutions for Nonholonomic Motion Planning , 1993 .

[40]  Frank L. Lewis,et al.  Decentralized continuous robust controller for mobile robots , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[41]  Minoru Asada,et al.  Map building for a mobile robot from sensory data , 1990, IEEE Trans. Syst. Man Cybern..

[42]  Claude Samson.  Time-varying feedback stabilization of nonholonomic car-like mobile robots , 1990 .

[43]  Mo Jamshidi,et al.  Robotics and remote systems for hazardous environments , 1993 .

[44]  Tsuneo Yoshikawa,et al.  Dynamic hybrid position/force control of robot manipulators-controller design and experiment , 1987, IEEE J. Robotics Autom..

[45]  Daniel E. Whitney,et al.  Force Feedback Control of Manipulator Fine Motions , 1977 .

[46]  Larry S. Davis,et al.  A visual navigation system for autonomous land vehicles , 1987, IEEE J. Robotics Autom..

[47]  Daniel E. Whitney,et al.  Historical Perspective and State of the Art in Robot Force Control , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[48]  Avinash C. Kak,et al.  Experiments in the integration of world knowledge with sensory information for mobile robots , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[49]  Gerardo Lafferriere,et al.  A Differential Geometric Approach to Motion Planning , 1993 .

[50]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[51]  Jean-Paul Laumond,et al.  Position referencing and consistent world modeling for mobile robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[52]  Tsuneo Yoshikawa,et al.  Dynamic hybrid position/force control of robot manipulators--Description of hand constraints and calculation of joint driving force , 1986, IEEE Journal on Robotics and Automation.

[53]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[54]  Pradeep K. Khosla,et al.  An Experimental Evaluation and Comparison of Explicit Force Control Strategies for Robotic Manipulators , 1992, 1992 American Control Conference.

[55]  John M. Hollerbach,et al.  Kinematic stability issues in force control of manipulators , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[56]  I. Neĭmark,et al.  Dynamics of Nonholonomic Systems , 1972 .

[57]  Norbert A. M. Hootsmans.  The motion control manipulators on mobile vehicles , 1992 .

[58]  W. Miksch,et al.  Performance-functional based controller design for a mobile manipulator , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[59]  D.J. Kriegman,et al.  Stereo vision and navigation in buildings for mobile robots , 1989, IEEE Trans. Robotics Autom..

[60]  Jorge Angeles,et al.  The kinematic design of a 3-DOF isotropic mobile robot , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[61]  Yoshihiko Nakamura,et al.  Nonlinear tracking control of autonomous underwater vehicles , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[62]  Oussama Khatib,et al.  Motion and force control of robot manipulators , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[63]  Xiaoping Yun,et al.  Control of mobile manipulators following a moving surface , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[64]  François G. Pin,et al.  Multi-criteria position and configuration optimization for redundant platform/manipulator systems , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[65]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[66]  Claude Samson,et al.  Velocity and torque feedback control of a nonholonomic cart , 1991 .

[67]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[68]  J. W. Humberston.  Classical mechanics , 1980, Nature.

[69]  Ingemar J. Cox,et al.  Blanche-an experiment in guidance and navigation of an autonomous robot vehicle , 1991, IEEE Trans. Robotics Autom..

[70]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[71]  Fumio Miyazaki,et al.  A stable tracking control method for an autonomous mobile robot , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[72]  Georges Bastin,et al.  Modelling and control of non-holonomic wheeled mobile robots , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[73]  Jean-Paul Laumond,et al.  Feasible Trajectories for Mobile Robots with Kinematic and Environment Constraints , 1986, IAS.

[74]  G. Campion,et al.  Controllability and State Feedback Stabilizability of Nonholonomic Mechanical Systems , 1991 .

[75]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[76]  Richard P. Paul,et al.  On position compensation and force control stability of a robot with a compliant wrist , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[77]  C. Moog,et al.  Computing the differential output rank of a nonlinear system , 1987, 26th IEEE Conference on Decision and Control.

[78]  Zexiang Li,et al.  Optimal Nonholonomic Motion Planning for a Falling Cat , 1993 .

[79]  Alan A. Desrochers,et al.  Modeling and control of a mobile robot subject to disturbances , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[80]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[81]  J. Latombe,et al.  On nonholonomic mobile robots and optimal maneuvering , 1989, Proceedings. IEEE International Symposium on Intelligent Control 1989.

[82]  M. Fliess,et al.  A new approach to the structure at infinity of nonlinear systems , 1986 .

[83]  John M. Hollerbach,et al.  Dynamic Stability Issues in Force Control of Manipulators , 1987, 1987 American Control Conference.

[84]  Steven D. Eppinger.  Modeling Robot Dynamic Performance for Endpoint Force Control , 1988 .

[85]  Karim Ait-Abderrahim,et al.  Mobile robot control. Part 1 : Feedback control of nonholonomic wheeled cart in cartesian space , 1990 .

[86]  井上 博允,et al.  Force Feedback in Precise Assembly Tasks , 1975 .

[87]  Karim Ait-Abderrahim,et al.  Feedback stabilization of a nonholonomic wheeled mobile robot , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[88]  Larry H. Matthies,et al.  Integration of sonar and stereo range data using a grid-based representation , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[89]  Francis L. Merat,et al.  Introduction to robotics: Mechanics and control , 1987, IEEE J. Robotics Autom..

[90]  吉川 恒夫,et al.  Foundations of robotics : analysis and control , 1990 .

[91]  T. Kane,et al.  A dynamical explanation of the falling cat phenomenon , 1969 .

[92]  Xiaoping Yun,et al.  Coordinating locomotion and manipulation of a mobile manipulator , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[93]  Steven Dubowsky,et al.  On the dynamics of manipulators in space using the virtual manipulator approach , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.