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

Dietrich, Alexander und Wimböck, Thomas und Albu-Schäffer, Alin und 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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Kurzfassung

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.

Dokumentart:Konferenzbeitrag (Paper)
Titel:Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Dietrich, AlexanderNICHT SPEZIFIZIERT
Wimböck, ThomasNICHT SPEZIFIZIERT
Albu-Schäffer, AlinNICHT SPEZIFIZIERT
Hirzinger, GerdNICHT SPEZIFIZIERT
Datum:Mai 2001
Erschienen in:Proc. of the 2011 IEEE International Conference on Robotics and Automation
Status:veröffentlicht
Stichwörter:nonholonomic, omnidirectional, mobile platform
Veranstaltungstitel:International Conference on Robotics and Automation
Veranstaltungsort:Shanghai
Veranstaltungsart:internationale Konferenz
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Leistungszentrum Robotik - Mechatronik und Telerobotik (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Alexander Dietrich
Hinterlegt am:14 Jun 2011 09:30
Letzte Änderung:12 Dez 2013 21:18

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