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Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint

Dietrich, Alexander and Wimböck, Thomas and Albu-Schäffer, Alin and Hirzinger, Gerd (2001) Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint. In: Proc. of the 2011 IEEE International Conference on Robotics and Automation. International Conference on Robotics and Automation, Shanghai.

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Abstract

One characteristic attribute of mobile platforms equipped with a set of independent steering wheels is their omnidirectionality and the ability to realize complex translational and rotational trajectories. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. Since the orientations of the wheels must align to the Instantaneous Center of Rotation (ICR), the current location and velocity of this specific point is essential for describing the state of the platform. However, singular configurations of the controlled system exist depending on the ICR, leading to unfeasible control inputs, i.e., infinite steering rates. Within this work we address and analyze this problem in general. Furthermore, we propose a solution for mobile platforms with variable footprint. An existing controller based on dynamic feedback linearization is augmented by a new potential field-based algorithm for singularity avoidance which uses the tunable leg lengths as an additional control input to minimize deviations from the nominal motion trajectory. Simulations and experimental results on the mobile platform of DLR's humanoid manipulator Justin support our approach.

Document Type:Conference or Workshop Item (Paper)
Title:Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint
Authors:
AuthorsInstitution or Email of Authors
Dietrich, AlexanderUNSPECIFIED
Wimböck, ThomasUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:May 2001
Journal or Publication Title:Proc. of the 2011 IEEE International Conference on Robotics and Automation
Status:Published
Keywords:nonholonomic, omnidirectional, mobile platform
Event Title:International Conference on Robotics and Automation
Event Location:Shanghai
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Alexander Dietrich
Deposited On:14 Jun 2011 09:30
Last Modified:12 Dec 2013 21:18

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