Whole-body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra |
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Authors: | Frederico Fernandes Afonso Silva Bruno Vilhena Adorno |
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Affiliation: | 1.The Graduate Program in Electrical Engineering,Federal University of Minas Gerais (UFMG),Belo,Brazil;2.The Department of Electrical Engineering,Federal University of Minas Gerais (UFMG),Belo,Brazil |
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Abstract: | This paper presents the whole-body control of a nonholonomic mobile manipulator using feedback linearization and dual quaternion algebra. The controller, whose reference is a unit dual quaternion representing the desired end-effector pose, acts as a dynamic trajectory generator for the end-effector, and input signals for both nonholonomic mobile base and manipulator arm are generated by using the pseudoinverse of the whole-body Jacobian matrix. In order to deal with the nonholonomic constraints, the input signal to the mobile base generated by the whole-body motion control is properly remapped to ensure feasibility. The Lyapunov stability for the proposed controller is presented and experimental results on a real platform are performed in order to compare the proposed scheme to a traditional classic whole-body linear kinematic controller. The results show that, for similar convergence rate, the nonlinear controller is capable of generating smoother movements while having lower control effort than the linear controller. |
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