Mobile robots consist of a mobile platform with manipulator can provide interesting functionalities in a number of applications, since, combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the existence of multiple solutions in a specified workspace. This paper presents a novel combination of evolutionary algorithms and artificial potential field theory for motion planning of mobile manipulator which guaranteed collision and singularity avoidance. In the proposed algorithm, the developed concepts of potential field method are applied to obstacle avoidance and interaction of mobile base with manipulator is used as a new idea for singularity avoidance ability of intermediate links for mobile operations. For this purpose, kinematic and dynamic modeling is derived to define redundant solutions. Afterward, methods from potential field theory combine with evolutionary algorithms to provide an optimum solution among possibly of redundancy resolution scheme. A controller based on dynamic feedback linearization is augmented to track the selective motion trajectory. Simulation results verify obstacle avoidance, singularity avoidance for the manipulators and asymptotic convergence of the robots errors.
Skip Nav Destination
ASME 2014 International Mechanical Engineering Congress and Exposition
November 14–20, 2014
Montreal, Quebec, Canada
Conference Sponsors:
- ASME
ISBN:
978-0-7918-4647-6
PROCEEDINGS PAPER
Redundancy Resolution for Singularity Avoidance of Wheeled Mobile Manipulators Available to Purchase
Adel Abbaspour,
Adel Abbaspour
K.N.Toosi University of Technology, Tehran, Iran
Search for other works by this author on:
Hadi Zare Jafari,
Hadi Zare Jafari
K.N.Toosi University of Technology, Tehran, Iran
Search for other works by this author on:
Mohammad Ali Askari Hemmat,
Mohammad Ali Askari Hemmat
Concordia University, Montreal, QC, Canada
Search for other works by this author on:
Khalil Alipour
Khalil Alipour
University of Tehran, Tehran, Iran
Search for other works by this author on:
Adel Abbaspour
K.N.Toosi University of Technology, Tehran, Iran
Hadi Zare Jafari
K.N.Toosi University of Technology, Tehran, Iran
Mohammad Ali Askari Hemmat
Concordia University, Montreal, QC, Canada
Khalil Alipour
University of Tehran, Tehran, Iran
Paper No:
IMECE2014-38639, V04AT04A036; 10 pages
Published Online:
March 13, 2015
Citation
Abbaspour, A, Jafari, HZ, Hemmat, MAA, & Alipour, K. "Redundancy Resolution for Singularity Avoidance of Wheeled Mobile Manipulators." Proceedings of the ASME 2014 International Mechanical Engineering Congress and Exposition. Volume 4A: Dynamics, Vibration, and Control. Montreal, Quebec, Canada. November 14–20, 2014. V04AT04A036. ASME. https://doi.org/10.1115/IMECE2014-38639
Download citation file:
22
Views
Related Proceedings Papers
Related Articles
Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness
J. Comput. Nonlinear Dynam (July,2008)
Real-Time Tip-Over Prevention and Path Following Control for Redundant Nonholonomic Mobile Modular Manipulators via Fuzzy and Neural-Fuzzy Approaches
J. Dyn. Sys., Meas., Control (December,2006)
Serial Metamorphic Manipulator Dynamics Formulation Implementing Screw Theory Tools
Letters Dyn. Sys. Control (October,2024)
Related Chapters
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
Pseudoinverse Method and Singularities Discussed
Robot Manipulator Redundancy Resolution
Manipulability-Maximizing SMP Scheme
Robot Manipulator Redundancy Resolution