Weighted singularity-robust inverse with criterion function optimization of redundant mobile manipulators in 3D space with defense applications

Redwan Alqasemi; Rajiv Dubey

doi:10.1117/12.777413

25 April 2008 Weighted singularity-robust inverse with criterion function optimization of redundant mobile manipulators in 3D space with defense applications

Redwan Alqasemi, Rajiv Dubey

Author Affiliations +

Proceedings Volume 6962, Unmanned Systems Technology X; 69621V (2008) https://doi.org/10.1117/12.777413
Event: SPIE Defense and Security Symposium, 2008, Orlando, Florida, United States

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.

Citation Download Citation

Redwan Alqasemi and Rajiv Dubey "Weighted singularity-robust inverse with criterion function optimization of redundant mobile manipulators in 3D space with defense applications", Proc. SPIE 6962, Unmanned Systems Technology X, 69621V (25 April 2008); https://doi.org/10.1117/12.777413

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available