A Biobjective Scheme for Kinematic Control of Mobile Robotic Arms with Manipulability Optimization

Document Type

Article

Publication Date

4-1-2024

Abstract

In combination with a robotic arm, a mobile platform can fulfill complicated functions but may encounter singularity problems. To solve them, this work investigates the kinematic control of a mobile robotic arm (MRA) that is based on a redundant arm mounted on a mobile robot. Specifically, a quadratic program-based biobjective (QPBO) scheme is proposed, which integrates manipulability optimization and the minimum velocity infinite-norm. Accordingly, a modified neural dynamics (MND) is founded with its stability substantiated by Lyapunov stability analyses theoretically. Furthermore, simulations, comparisons, and experiments are carried out on an MRA, from which the feasibility, effectiveness, and superiority of QPBO are validated. In conclusion, the proposed scheme is of great significance for enhancing the manipulability of MRA while reducing the maximum joint velocity.

Identifier

85173415442 (Scopus)

Publication Title

IEEE/ASME Transactions on Mechatronics

External Full Text Location

https://doi.org/10.1109/TMECH.2023.3313516

e-ISSN

1941014X

ISSN

10834435

First Page

1534

Last Page

1545

Issue

2

Volume

29

Grant

2023CXZX-068

Fund Ref

Lanzhou University

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