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

  • Swati Mishra Indian Institute of Technology, Indore - 453 552
  • Santhakumar Mohan Indian Institute of Technology, Palakkad - 678 557
  • Santosh Kumar Vishvakarma Indian Institute of Technology, Indore - 453 552
Keywords: Vehicle-manipulator system, Kinematically redundant system, Resolved motion control, Operational space control

Abstract

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 operational-space kinematic control scheme.

Author Biographies

Swati Mishra, Indian Institute of Technology, Indore - 453 552

Ms Swati Mishra graduated in Automobile Engineering from Oriental Institute of Science & Technology, Bhopal, Madhya Pradesh, India, in 2010. She did her Master’s in Specialising of Design and Thermal from Institute of Engineering, D.A.V.V Indore, in 2012. She is currently pursuing PhD in the Discipline of Metallurgy Engineering & Material Science at IIT Indore, India.

Santhakumar Mohan, Indian Institute of Technology, Palakkad - 678 557

Dr Santhakumar Mohan graduated from GCE Salem in 2003. He received his Master from GCT Coimbatore in 2005. He got his PhD (Robotics and Control) from IIT Madras in 2010. He worked as an Associate professor at IIT Indore till December 2018. Currently, he is working as an Associate professor at IIT Palakkad, India. He is holding visiting faculty positions at IISc Bangalore, India, RWTH Aachen, Germany and ECN, France.

Santosh Kumar Vishvakarma, Indian Institute of Technology, Indore - 453 552

Dr Santosh Kumar Vishvakarma graduated from University of Gorakhpur in 1999. He received MSc in Electronics from DAVV Indore and MTech in Microelectronics from Punjab University in 2001 and 2003. He got PhD from IITRoorkee (Semiconductor Devices & VLSI Technology) in 2010. Currently, he is working as an Associate Professor in IIT Indore. His research interest includes Device Modelling and Circuit design.

Published
2020-02-10
How to Cite
Mishra, S., Mohan, S., & Vishvakarma, S. (2020). Simplified Motion Control of a Vehicle manipulator for the Coordinated Mobile Manipulation. Defence Science Journal, 70(1), 72-81. https://doi.org/10.14429/dsj.70.14119
Section
Electronics & Communication Systems

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