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Differential-Flatness-Based Planning and Control of a Wheeled Mobile Manipulator—Theory and Experiment

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5 Author(s)
Chin Pei Tang ; Erik Jonsson Sch. of Eng. & Comput. Sci., Univ. of Texas at Dallas, Richardson, TX, USA ; Miller, P.T. ; Krovi, V.N. ; Ji-Chul Ryu
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This paper presents a differential-flatness-based integrated point-to-point trajectory planning and control method for a class of nonholonomic wheeled mobile manipulator (WMM). We demonstrate that its kinematic model possesses a feedback-linearizable description due to the flatness property, which allows for full-state controllability. Trajectory planning can then be simplified and achieved by polynomial fitting method in the flat output space to satisfy the terminal conditions, while control design reduces to a pole-placement problem for a linear system. The method is then deployed on our custom-constructed WMM hardware to evaluate its effectiveness and to highlight various aspects of the hardware implementation.

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Mechatronics, IEEE/ASME Transactions on  (Volume:16 ,  Issue: 4 )