A Biobjective Scheme for Kinematic Control of Mobile Robotic Arms With Manipulability Optimization
Zhengtai Xie, Long Jin, Xin Luo, MengChu Zhou, Y. Zheng
Abstract
In combination with a robotic arm, a mobile platform can fulfill complicated functions but may encounter singularity problems. To solve them, this work investigates the kinematic control of a mobile robotic arm (MRA) that is based on a redundant arm mounted on a mobile robot. Specifically, a quadratic program-based biobjective (QPBO) scheme is proposed, which integrates manipulability optimization and the minimum velocity infinite-norm. Accordingly, a modified neural dynamics (MND) is founded with its stability substantiated by Lyapunov stability analyses theoretically. Furthermore, simulations, comparisons, and experiments are carried out on an MRA, from which the feasibility, effectiveness, and superiority of QPBO are validated. In conclusion, the proposed scheme is of great significance for enhancing the manipulability of MRA while reducing the maximum joint velocity.