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Authors: Nagamanikandan Govindan and Asokan Thondiyath

Affiliation: Indian Institute of Technology Madras, India

ISBN: 978-989-758-264-6

Keyword(s): Mobile Manipulator, Redundancy Resolution, Path Planning, Behavioural Control, Inverse Kinematics, CLIK.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: Discrete time implementation of task-priority redundancy resolution using closed loop inverse kinematics with fixed sampling time may lead to discretization chatter. The chattering effect is due to switching between different closed loop behaviours whenever the corresponding external event has occurred. This effect causes high frequency oscillation with finite frequency and amplitude in both joint space motion and operational space motion which is highly undesired. In this paper, we propose a planning and filtering algorithm to improve the robustness of task-priority redundancy resolution without having the effect of chattering, while combining multiple closed loop behaviours. We also show how the null space projection in task- priority control affects the operational space motion while switching between the behaviours. To demonstrate the effectiveness of the proposed algorithm, three different case studies are presented for a planar mobile manipulator with holonomic constraint. The r esults confirm that the proposed algorithm eliminates the chatter and moves the end effector on a smooth trajectory. (More)

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Paper citation in several formats:
Govindan, N. and Thondiyath, A. (2017). Improved Planning and Filtering Algorithm for Task-priority Redundancy Resolution in Mobile Manipulation.In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 247-253. DOI: 10.5220/0006402002470253

@conference{icinco17,
author={Nagamanikandan Govindan. and Asokan Thondiyath.},
title={Improved Planning and Filtering Algorithm for Task-priority Redundancy Resolution in Mobile Manipulation},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={247-253},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006402002470253},
isbn={978-989-758-264-6},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Improved Planning and Filtering Algorithm for Task-priority Redundancy Resolution in Mobile Manipulation
SN - 978-989-758-264-6
AU - Govindan, N.
AU - Thondiyath, A.
PY - 2017
SP - 247
EP - 253
DO - 10.5220/0006402002470253

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