Creating mobile manipulation capabilities: on dynamic modeling and control of Euler-Lagrange passive nonholonomic systems
Author(s)
Aguilera Marinovic, Sergio Francisco
Advisor(s)
Editor(s)
Collections
Supplementary to:
Permanent Link
Abstract
Mobile Manipulators (MM) have been introduced into various fields, from agriculture and warehouse automation to hospitals and personal assistants. Commonly used for fetching tasks, the range of capabilities that MM currently have is limited to traversing the environment and interacting with light objects. The goal of this thesis is to expand their capabilities by enabling MM to interact with and control heavy objects around the environment. Considering that large and heavy objects have nontrivial dynamics and momentum, this requires understanding how they behave and react to the interactions with the MM. From pushing wagons and trolleys in a warehouse, wheeled beds and wheelchairs in a hospital, and shopping carts, luggage, and strollers as personal assistant robots, there is a wide range of tasks where MMs push objects with changing inertial parameters.
This thesis proposes a framework for interacting with and controlling wheeled objects with a wide range of inertial parameters. We study both the MM and object as two individual systems. For the object, we present a general dynamic model for various cart-like systems with unknown parameters, when the actuation is an external force applied by the MM. First, we present an adaptive control approach to tackle the system identification of the object and control for trajectory tracking. Then, we propose a position/force control scheme for the MM's manipulator to move the base along with the object while applying the required force at a given contact point on the object. Experimental results using a MM and a shopping cart are used to demonstrate the accuracy of the framework.
Sponsor
Date
2023-08-08
Extent
Resource Type
Text
Resource Subtype
Dissertation