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Proceedings Paper

Weighted singularity-robust inverse with criterion function optimization of redundant mobile manipulators in 3D space with defense applications
Author(s): Redwan Alqasemi; Rajiv Dubey
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Paper Abstract

A 9-DoF mobile robotic manipulator system consisting of a 7-DoF redundant manipulator and a differentially driven 2-DoF mobile non-holonomic platform was mathematically modeled to represent a general redundant mobile manipulator. The control of the 3-degree of redundancy system combines the mobility and manipulation, expands on the conventional control methods and introduces user-specified weights to the singularity-robust (S-R) inverse of the Jacobian. Criterion function weight was added to the weight matrix to optimize the control based on joint limit avoidance. A numerical example to apply and compare several control methods was presented. Singularity and joint limit avoidance along with user-defined motion preference were implemented in simulation. Possible applications in defense were explored.

Paper Details

Date Published: 25 April 2008
PDF: 12 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 69621V (25 April 2008); doi: 10.1117/12.777413
Show Author Affiliations
Redwan Alqasemi, Univ. of South Florida (United States)
Rajiv Dubey, Univ. of South Florida (United States)

Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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