Simplified Motion Control of a Vehicle manipulator for the Coordinated Mobile Manipulation | Zendy

Swati Mishra | Zendy; Santhakumar Mohan | Zendy; Santosh Kumar Vishvakarma | Zendy

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Simplified Motion Control of a Vehicle manipulator for the Coordinated Mobile Manipulation

Author(s) -

Swati Mishra,

Santhakumar Mohan,

Santosh Kumar Vishvakarma

Publication year - 2020

Publication title -

defence science journal

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.198

H-Index - 32

eISSN - 0976-464X

pISSN - 0011-748X

DOI - 10.14429/dsj.70.14119

Subject(s) - kinematics , jacobian matrix and determinant , control theory (sociology) , trajectory , mobile manipulator , inverse kinematics , motion (physics) , scheme (mathematics) , motion control , computer science , manipulator (device) , robot end effector , control engineering , engineering , control (management) , mathematics , robotic arm , mobile robot , robot , artificial intelligence , physics , mathematical analysis , classical mechanics , astronomy

This paper considers a resolved kinematic motion control approach for controlling a spatial serial manipulator arm that is mounted on a vehicle base. The end-effector’s motion of the manipulator is controlled by a novel kinematic control scheme, and the performance is compared with the well-known operational-space control scheme. The proposed control scheme aims to track the given operational-space (end-effector) motion trajectory with the help of resolved configuration-space motion without using the Jacobian matrix inverse or pseudo inverse. The experimental testing results show that the suggested control scheme is as close to the conventional operationalspace kinematic control scheme.

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