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Volume 22 Issue 7/8 - Publication Date: 1 July - August 2003
 
Special Issue on the 3rd International Conference on Field and Service Robotics
 
Manipulability of Wheeled Mobile Manipulators: Applications to Motion Generation
 
B. Bayle LSIIT, Strasbourg, France, J.-Y. Fourquet ENIT, Tarbes, France and M. Renaud LAAS-CNRS, Toulouse, France
 

We propose a systematic modeling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. We use the models derived to generalize the standard definition of manipulability to the case of mobile manipulators. The effects of mounting a robotic arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined. Several applications are evoked, particularly applications to control. The optimization of criteria inherited from manipulability considerations are given to generate the controls of our system when its end effector motion is imposed.

 
Multimedia Key
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Extension
Type
Description
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Example One: Manipulability ellipsoids for a 2-rotoid joint planar robotic arm. (1.3 MB)
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Example Two: Manipulability ellipsoids for a planar mobile manipulator built from a car-like platform and a 2-rotoid joint planar robotic arm (front wheel parallel to the longitudinal axis of the platform) : contribution of the mobile platform to the mobile manipulator manipulability. (0.6 MB)
3
Example Three: Manipulability ellipsoids for a planar mobile manipulator built from a car-like platform and a 2-rotoid joint planar robotic arm (front wheel orthogonal to the longitudinal axis of the platform) : effects of the nonholonomic  constraints on manipulability. (0.5 MB)
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Example Four: Tracking an operational motion with elliptic path minimizing the eccentricity of the ellipsoids of manipulability. (1.3 MB)
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Example Five: 3-dimensional plot of the path followed by the point with coordinates (qa1, qa2) on the w5 surface (this corresponds to the animation mpg_h2_optim_w5.mpg) . (0.2 MB)
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Example Six: Tracking an operational motion  maximizing a convex combination of the manipulability measures of the robotic arm and the mobile manipulator. (1.0 MB)
 
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