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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator
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Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator

机译：非完整轮式移动机械手动态冗余分辨率的实验评估

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摘要

Mobile manipulators derive significant novel capabilities for enhanced interactions with the world by merging mobility with manipulation. However, a careful resolution of the redundancy and active control of the reconfigurability, created by the surplus articulated DOFs and actuation, are the keys to unlocking this potential. Nonholonomic wheeled mobile manipulators, formed by mounting manipulator arms on disc-wheeled mobile bases, are a small but important subclass of mobile manipulators. The primary control challenges arise due to the dynamic-level coupling of the nonholonomy of the wheeled mobile bases with the inherent kinematic and actuation redundancy within the articulated chain. The solution approach in this paper builds upon a dynamically consistent and decoupled partitioning of the articulated system dynamics between the external (task) space and internal (null) space. The independent controllers, developed within each decoupled space, facilitate active internal reconfiguration, in addition to resolving redundancy at the dynamic level. Specifically, two variants of null-space controllers are implemented to improve disturbance rejection and active reconfiguration during performance of end-effector tasks by a primary end-effector impedance mode controller. These algorithms are evaluated within an implementation framework that emphasizes both virtual prototyping and hardware-in-the-loop testing with representative case studies.
机译：通过将移动性与操纵相结合，移动操纵器具有显着的新颖功能，可增强与世界的互动。但是，由多余的铰接自由度和驱动力产生的对冗余的仔细解决和对可重新配置性的主动控制是释放这种潜力的关键。通过将机械手的臂安装在圆盘式可移动基座上而形成的非完整轮式可移动机械手是小型但重要的移动机械手子类。由于轮式可动基座的非完整性与铰接链中固有的运动学和致动冗余之间的动态级耦合，出现了主要的控制挑战。本文中的解决方案方法基于外部（任务）空间和内部（空）空间之间的铰接系统动力学的动态一致和解耦分区。在每个解耦空间内开发的独立控制器，除了解决动态级别的冗余之外，还有助于主动进行内部重新配置。具体而言，通过主末端执行器阻抗模式控制器，可实现零空间控制器的两种变体，以在执行末端执行器任务期间改善干扰抑制和主动重新配置。这些算法是在一个实现框架中进行评估的，该框架同时强调虚拟样机和具有代表性案例研究的硬件在环测试。

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