This paper presents a methodology for design of mobile vehicles, mounted with underactuated manipulators operating in a horizontal plane, such that the combined system is differentially flat. A challenging question of how to perform point-to-point motions in the state space of such a highly nonlinear system, in spite of the absence of some actuators in the arm, is answered in this paper. We show that, by appropriate inertia distribution of the links and addition of torsion springs at the joints, a range of underactuated designs is possible, where the underactuated mobile manipulator system is differentially flat. The differential flatness property allows one to efficiently solve the problem of trajectory planning and feedback controller design for point-to-point motions in the state space. The proposed method is illustrated by the example of a mobile vehicle with an underactuated three-link manipulator.
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e-mail: jcryu@udel.edu
e-mail: sangwan@udel.edu
e-mail: agrawal@udel.edu
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March 2010
Technical Briefs
Differentially Flat Designs of Underactuated Mobile Manipulators
Ji-Chul Ryu,
Ji-Chul Ryu
Department of Mechanical Engineering, Mechanical Systems Laboratory,
e-mail: jcryu@udel.edu
University of Delaware
, Newark, DE 19716
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Vivek Sangwan,
Vivek Sangwan
Department of Mechanical Engineering, Mechanical Systems Laboratory,
e-mail: sangwan@udel.edu
University of Delaware
, Newark, DE 19716
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Sunil K. Agrawal
Sunil K. Agrawal
Professor
Department of Mechanical Engineering, Mechanical Systems Laboratory,
e-mail: agrawal@udel.edu
University of Delaware
, Newark, DE 19716
Search for other works by this author on:
Ji-Chul Ryu
Department of Mechanical Engineering, Mechanical Systems Laboratory,
University of Delaware
, Newark, DE 19716e-mail: jcryu@udel.edu
Vivek Sangwan
Department of Mechanical Engineering, Mechanical Systems Laboratory,
University of Delaware
, Newark, DE 19716e-mail: sangwan@udel.edu
Sunil K. Agrawal
Professor
Department of Mechanical Engineering, Mechanical Systems Laboratory,
University of Delaware
, Newark, DE 19716e-mail: agrawal@udel.edu
J. Dyn. Sys., Meas., Control. Mar 2010, 132(2): 024502 (6 pages)
Published Online: February 2, 2010
Article history
Received:
September 5, 2008
Revised:
November 13, 2009
Online:
February 2, 2010
Published:
February 2, 2010
Citation
Ryu, J., Sangwan, V., and Agrawal, S. K. (February 2, 2010). "Differentially Flat Designs of Underactuated Mobile Manipulators." ASME. J. Dyn. Sys., Meas., Control. March 2010; 132(2): 024502. https://doi.org/10.1115/1.4000815
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