This paper presents an integrated motion planning and control framework for a nonholonomic wheeled mobile manipulator (WMM) system taking advantage of the (differential) flatness property. We first develop the kinematic model of the system and analyze its flatness properties. Subsequently, a statically feedback linearizable system description is developed by appropriately choosing the flat outputs. Motion-planning can now be achieved by polynomial curve fitting to satisfying the terminal conditions in the flat output space while control design reduces to a pole-placement problem for a linear system. A case study of point-to-point motion is considered to study the effectiveness of pose stabilization in the WMM. The simulation and experimental results highlight the ease-of-implementation of proposed method for online real-time integrated motion-planning/control within a hardware-in-the-loop (HIL) electro-mechanical testing.
- Dynamic Systems and Control Division
Kinematic Control of Nonholonomic Wheeled Mobile Manipulator: A Differential Flatness Approach
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Tang, CP, Miller, PT, Krovi, VN, Ryu, J, & Agrawal, SK. "Kinematic Control of Nonholonomic Wheeled Mobile Manipulator: A Differential Flatness Approach." Proceedings of the ASME 2008 Dynamic Systems and Control Conference. ASME 2008 Dynamic Systems and Control Conference, Parts A and B. Ann Arbor, Michigan, USA. October 20–22, 2008. pp. 1117-1124. ASME. https://doi.org/10.1115/DSCC2008-2253
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