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.
Item URL in elib: | https://elib.dlr.de/69983/ | |||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | |||||||||||||||
Title: | Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint | |||||||||||||||
Authors: |
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Date: | May 2001 | |||||||||||||||
Journal or Publication Title: | Proc. of the 2011 IEEE International Conference on Robotics and Automation | |||||||||||||||
Open Access: | Yes | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | No | |||||||||||||||
In ISI Web of Science: | No | |||||||||||||||
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 (until 2012) > Robotic Systems | |||||||||||||||
Deposited By: | Dietrich, Dr.-Ing. Alexander | |||||||||||||||
Deposited On: | 14 Jun 2011 09:30 | |||||||||||||||
Last Modified: | 31 Jul 2019 19:32 |
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