Yamamoto, Y.: Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator. Ph.D.-Thesis, Department of Computer and Information Science School of Engeneering and Applied Science, University of Pennsylvania (1994) 18 Steen Kristensen et at.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....con figuration of the manipulator (Figure 4) The z coordinate and the orientation in the world frame must be constant. 4. 4 Closed Loop Platform Controller The only task of the platform is to move in the next interval so that the arm will be able to take on its preferred configuration [11]. The used nonholonomic mobile platform has the following decoupling matrix which describes the correlation between the velocities of the preferred point in work space and in configuration space. wp(t) 2(wp(t) wp(t) k2 (wp(t) wp(t) 10) wp(t) cos(Wp, t) 512 (wp(t) ....

Yamamoto, Y.: Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator. Ph.D.-Thesis, Department of Computer and Information Science School of Engeneering and Applied Science, University of Pennsylvania (1994) 18 Steen Kristensen et at.

....testbed shown in Figure 4, each mobile manipulator consists of a robot arm mounted on a TRC Labmate platform. The platform is a nonholonomic cart with two actuated degreesof freedom. The mobile platforms enable appropriate (and even optimal) positioning and configuring before grasping [38], and possible reconfiguration if necessary. We are particularly concerned with the problem of motion planning in the presence of obstacles. Because the mobile manipulators must maintain a stable grasp, it is necessary to plan a smooth trajectory that is free of collisions. For example, in Figure ....

Y. Yamamoto. Control and Coordination of Locomo- tion and Manipulation of Wheeled Mobile Manipulators. PhD thesis, University of Pennsylvania, 1994.

....implies w a5 = 1. On gure 3, it corresponds to a degenerated ellipse. 3.2 Case of mobile manipulators We now take into account the mobile platform. The rst contribution, to our knowledge, that dealt with manipulability in mobile manipulation is devoted to the manipulability of the sole arm [ Yamamoto, 1994 ] Depending on the tasks at hand, there is an interest in considering the ability of generating velocities at the end e ector by acting on the sole arm or by acting on the whole system. Here, we develop an analysis of the whole mobile manipulator manipulability. It follows the main lines ....

Yamamoto, Y. (1994). Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator. PhD thesis, University of Pennsylvania, Philadelphia, USA.

....degrees of freedom. This property enables one to use the redundant degrees of freedom to accomplish secondary tasks. Towards redundancy resolution, several methodologies have been presented. Mobile manipulators have been studied during the last decade and significant work appears in literature [1] [2]. Several papers are related to motion planning for such systems: Desai and Kumar [3] have formulated the problem as an optimal control problem. Pin et. al [4] performed local optimization at velocity level to achieve redundancy resolution using their FSP method. Perrier et. al [5] minimized the ....

Yoshio Yamamoto, Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator, Ph.D. thesis, Dept. of Computer and Information Science, School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, PA, August 1994.

....space. Mobile manipulation operating in aquatic environments is a recent and active area of research [27] 17] Of course, mobile manipulators can also operate on ground, given they are attached to a vehicle (normally wheeled) and some significant research has already been conducted on the field [35] [33] 11] 4] 2] 7] 34] Mobile manipulators extend the manipulator workspace and its ability to work efficiently. Due to the mobile base, the manipulator is capable of configuring itself to practically any operational point. In 1 addition, it can grasp and manipulate an object in many ....

....of which can move on a planar surface. The dynamic equations of motion are obtained using the classic Euler Lagrange formulation in operational space [12] assuming that the mobile platforms can move in a holonomic way. Other models include nonholonomic constraints, using classic Euler Lagrange [35] and Newton Euler formulations [2] These models are more accurate and consistent, even though they still do not consider all constraints imposed in mobile manipulator systems. In [2] the no slipping nonholonomic condition is not taken into account as well as the angular momentum preservation ....

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Yoshio Yamamoto, Control and coordination of locomotion and manipulation of a wheeled mobile manipulator, Ph.D. thesis, Dept. of Computer and Information Science, School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, PA, August 1994.

.... of impressive robots that have been realized based on these principles are, e.g. the assembly robot KAMRO [Lueth et al. 1995] the service robot ROMAN with a remarkable number of key components for service robots [Hanebeck et al. 1997] and the rehabilitation robot MOVAID [Dario et al. 1995] [Yamamoto 1994] and [Khatib et al. 1995] have developed force control algorithms for multiple cooperating mobile manipulators. Cameron et al. 1993] developed a mobile manipulator that moved its arm into a favorable manipulation position during the docking phase by reactive control methods. Given personal or ....

Yamamoto, Y. (1994). Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator. Dissertation, University of Pennsylvania, August 1994.

....control problem. We adopt the artificial potential field method [Kha86] The method provides us with an incremental on line generated holonomic path 3 , which is modified using simple projection strategy for nonholonomic robots [LO94] alternatively we may use a feedback linearized control law [Yam94] The role of the planner is to generate trajectory (commands) in order to reach a desired position from arbitrary initial configuration. While doing so with additional sensory information the objective is to take into account unexpected of obstacles in the way and steer the robot around them. ....

Yoshio Yamamoto. Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator. PhD thesis, University of Pennsylvania, Grasp Laboratory, 1994. 14

.... of impressive robots that have been realized based on these principles are, e.g. the assembly robot KAMRO [Lueth et al. 1995] the service robot ROMAN with a remarkable number of key components for service robots [Hanebeck et al. 1996] and the rehabilitation robot MOVAID [Dario et al. 1995] [Yamamoto 1994] and [Khatib et al. 1995] have developed force control algorithms for multiple cooperating mobile manipulators. Cameron et al. 1993] developed a mobile manipulator that moved its arm in a favorable manipulation position during the docking phase by reactive control methods. 2.2 Humanoid Robots ....

Yamamoto, Y. (1994). Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator.

....by adding tasks in order to solve the redundancy problem. To our knowledge the rst work in this area is due to Seraji [1] 2] which considers an instantaneous kinematic approach. Other works in the same area are due to Wang, et al. [3] Nassal [4] Pin, et al. [5] and Foulon, et al. [6] Yamamoto [7] considered moreover a dynamic approach. In the second subclass the generalized path generation is obtained by minimizing a quadratic criterion; this is for example the case in the works of Wang, et al. [3] and of Nassal [4] Fourquet and Renaud [8] present some links between the two di erent ....

Yamamoto, Y., Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator, Ph. D. Dissertation, University of Pennsylvania, 1994.

.... to Nassal [3] and Foulon et al. 4] In the second one the generalized path generation is obtained by minimizing a quadratic criterion [3] 5] Among a lot of interesting contributions in the field of mobile manipulators, let us mention the works of Khatib et al. 6] Sugar et al. 7] and Yamamoto [8]. In this paper, we introduce an algorithm, based on a pseudo inversion scheme. It minimizes a quadratic criterion in order to modify the configuration evolution (the generalized path) by imposing the free term in the pseudo inversion scheme from a scalar function determined by singularities or ....

....p ) 0 0 I n ; where I n is the n order identity matrix. Taking into account that G(q)M(q) 0, we obtain: d = J(q)dp; 4) with J(q) J(q)M(q) 2. 1 Application to a planar mobile manipulator Let us consider an horizontal double pendulum mounted on the platform (see figure 1 right, 1] and [8]) its configuration is defined by q = x y # q b1 q b2 ] T and so = 5. In the frame R, the position of the point O 3 is given by the Cartesian coordinates 1 and 2 and the orientation of the end effector by the angle 3 ; then = 3. Furthermore we suppose that a = b = 0 (see figure 1 right) ....

Y. Yamamoto, Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator, Ph. D. Dissertation, University of Pennsylvania, 1994.

....actuators. Here we describe the mobile base and the turntable and their associated control strategies in more detail. Manipulatory agents are, in addition to these actuators, equipped with PUMA 260 or Zebra ZERO manipulators. Description of those and their control strategies can be found in [Yam94] Mobile base The central question of the control of a mobile base is how to move it from one place to another in a structured or unstructured environment. This problem involves issues of path planning, motion planning and localization given available sensory information and or apriori ....

.... proposed by [Kha86] The method provides us with an incremental on line generated holonomic path 3 , which is modified using simple projection strategy for nonholonomic robots [LO94] An alternative to the projection strategy is the use of the feedback linearized control law introduced in [Yam94] This law is derived from the full dynamical model of the mobile base and its constraints. For ease of representation of obstacles we use the artificial potential field method which is briefly described below. The role of the planner is to generate a trajectory in order to reach a desired ....

Y. Yamamoto. Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator. PhD thesis, University of Pennsylvania, Grasp Laboratory, 1994.

....that a similar mathematical model can be used to plan the motion of cooperating nonholonomic robots in an environment with obstacles. We only plan the motions of the base TRC Labmates as the problem of coordination and control of robot manipulators on these platforms has been studied in [131]. If we use the same strategy to solve the motion planning problem for a larger number of robots, the task will be computationally burdensome though centralized motion planning methodology has a great advantage of developing explicit motion planning schemes. In Chapter 6, we investigate the ....

Y. Yamamoto. Control and coordination of locomotion and manipulation of a wheeled mobile manipulator. PhD thesis, University of Pennsylvania, GRASP Laboratory, May 1994.

.... first dealt with this latter problem in the mid 80 s (Bejczy et al. 1986, Tarn et al. 1987a, b) Later several other researchers designed different dynamical controllers to control a nonlinear redundant chain of mechanisms, such as (Dauchez and Uchiyama 1987, Arai and Osumi 1991, Hashimoto 1993, Yamamoto 1994). Cooperation here takes place through physical coupling of the manipulated object, when the manipulators communicate through state variables, i.e. position and forces. 3.4. Cooperative behaviors In his seminal paper Brooks (1986) challenged the prevailing wisdom regarding architectures for ....

....or mobile mechanism) the same dynamic equations of motion provided that the degrees of freedom do not change. Even if the load changes, as long as it is rigid and one can measure the forces and torques the same equations hold for their control. One can make similar arguments for mobile agents. Yamamoto (1994) models the dynamics of a mobile agent vehicle with three degrees of freedom and derives both holonomic and non holonomic constraints. His dynamic equations reflect the masses of the vehicle and inertial forces. This model is adequate if the vehicle moves on a flat surface, i.e. one assumes there ....

Yamamoto, Y., 1994, Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator, Ph.D. thesis MS-CIS-94-39, GRASP Laboratory, Computer and Information Science Dept., Univ. of Pennsylvania, Philadelphia, PA.

....location differential d x(s k ) at this point by following the method presented above. 7. EXAMPLE : A PLANAR SYSTEM We study the mechanical system composed of a HILARE like mobile platform on which is mounted an horizontal double pendulum arm (i.e. such that both rotation axis are vertical) (Yamamoto, 1994; Seraji, 1995) cf. figure 2) The arm generalized coordinates are : q b = q b1 ; q b2 ) n = 2) and the mechanical system gen x 0 y x y q b2 x y O O l m q b1 m l Fig. 2. A planar system eralized coordinates are : q = q 1 ; q 2 ; q 5 ) x; y; #; q b1 ; q b2 ) 5) The ....

....Manifold particular structure, the DSC impose a reconfiguration of the mechanical system that do not need to leave the operational path x(s) 7.4.2. Only the position is imposed A task can require to fix only a subset of the location coordinates. This is the case of examples treated in (Yamamoto, 1994; Seraji, 1995) When the OCPT problem is defined in this way, the tools we defined in the first part, especially the redundancy order, are unsufficient. In fact, it would be desirable to define redundancy not with respect to the evolution capabilities of the EE but rather with respect to the ....

Yamamoto, Y. (1994) Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator, Ph. D. Dissertation, University of Pennsylvania, USA.

.... the manipulators and mobile platform are established individually and then the mutual effects of manipulator and mobile platform are added as extra terms into the equations (e.g. inertia terms caused by platform rotation are added as additional forces to the dynamic equation of the manipulator) [Yam94]. The Lagrangian framework provides a powerful modeling tool for mechanical systems where the geometric and physical properties of the system are well understood and easily describable. However, difficulties arise once again when it comes to modeling the constraints provided by the environment, ....

Y. Yamamoto. Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator. PhD thesis, University of Pennsylvania, Grasp Laboratory, 1994. This article was processed using the L a T E X macro package with LLNCS style

....testbed shown in Figure 4, each mobile manipulator consists of a robot arm mounted on a TRC Labmate platform. The platform is a nonholonomic cart with two actuated degreesof freedom. The mobile platforms enable appropriate (and even optimal) positioning and configuring before grasping [38], and possible reconfiguration if necessary. We are particularly concerned with the problem of motion planning in the presence of obstacles. Because the mobile manipulators must maintain a stable grasp, it is necessary to plan a smooth trajectory that is free of collisions. For example, in Figure ....

Y. Yamamoto. Control and Coordination of Locomotion and Manipulation of Wheeled Mobile Manipulators. PhD thesis, University of Pennsylvania, 1994.

....We have performed a simulation to demonstrate the subtask execution of changing the two manipulatory agents configuration from a parallel to a serial formation, where the two mobile agents are more loosely coupled. The details of the coordination scheme employed for agent C can be found in [13]. A difficulty with this case is that, due to the nonholonomic constraints, the controller must be switched from one platform to the other in order to align the two platforms in parallel; this causes a small drift of the end point towards the end of the trajectory. This small error at the endpoint ....

....with that sensing modality. ffl The the ability of the human supervisor to monitor the actions and processes of the system, as well as to specify paths. ffl The algorithm for the global task specification and the algorithm which translates the task specification into the task supervisor. See [2, 7, 11, 14, 13] for details of the workings of these components, as well as test results and evaluations. The components currently being tested and evaluated include: ffl The reconfiguration of the mobile manipulators without dropping an object. ffl The localization of observation agent B and manipulatory ....

Y. Yamamoto. Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator. PhD thesis, MS-CIS-94-39, GRASP Laboratory, Department of Computer and Information Science, University of Pennsylvania, 1994.

.... one possibility is to adopt the artificial potential field method [16] The method provides us with an incremental on line generated holonomic path 3 , which is modified using simple projection strategy for nonholonomic robots [11] alternatively we may use a feedback linearized control law [42]. The role of the planner is to generate trajectory commands in order to reach a desired location from an arbitrary initial configuration. While doing so with additional sensory information the objective is to take into account unexpected occurrences of obstacles in the path and steer around them. ....

.... share an event Obst; therefore a communication link is established between them and the obstacle detection process sends the information about obstacles to the GoTo motion mode of the mobile base s fundamental 5 The details of the coordination scheme employed for agent C can be found in [41, 42] S c = S u = GoTo, GoToH, GoToM Head Succ, Intr Goal, Obst , Init GoTo Head GoTo Wait Read GoTo March GoTo GoToH GoToM Succ Intr Succ Intr Succ Intr Goal Obst Goal Obst Head Init Init Succ Intr Wait Read Avoid Avoid Succ Intr Obst = S c S u = Succ, Intr Avoid Obst , Wait Read ....

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Yoshio Yamamoto. Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator. PhD thesis, University of Pennsylvania, Grasp Laboratory, 1994.

....should be supplemented with some other form of localization. Beacon based systems involve modification of the environment, whereas landmark based systems require the detection of naturally occurring features [5, 26] 2 The details of the coordination scheme employed for agent C can be found in [29] Path generation: The human agent may specify the path waypoints explicitly, or teleoperate an observation agent along a desired path. Alternatively, a pathplanner may be employed [4, 28] Knowledge of the environment: There are no unforeseen obstacles in a completely known environment. In a ....

Y. Yamamoto. Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator. PhD thesis, University of Pennsylvania, Grasp Laboratory, 1994.

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Yoshio Yamamoto. Control and Coordination of Locomotion and Manipulation of a Wheeled Mobile Manipulator. PhD thesis, Dept. of Computer and Information Science, School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, PA, August 1994.

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