Parameterized Model Predictive Control of a Nonholonomic Mobile Manipulator: A Terminal Constraint-Free Approach

In this paper, a non-linear model predictive control of a mobile manipulator, consisting of a differential-drive mobile base and a 6 DOF arm, is presented. A novel approach to solve the online optimization problem that reduces the overall computational time is proposed, focusing on solving the traje...

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Bibliographic Details
Main Authors: Colombo, Raffaele, Gennari, Francesco, Annem, Vivek, Rajendran, Pradeep, Thakar, Shantanu, Bascetta, Luca, Gupta, Satyandra K.
Format: Conference Proceeding
Language:English
Subjects:
End effectors
Kinematics
Optimization
Redundancy
Trajectory
Trajectory tracking
Online Access:Request full text
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Summary:In this paper, a non-linear model predictive control of a mobile manipulator, consisting of a differential-drive mobile base and a 6 DOF arm, is presented. A novel approach to solve the online optimization problem that reduces the overall computational time is proposed, focusing on solving the trajectory tracking problem for handling and grasping operations of a mobile manipulator. The novelty is the introduction of parameterized control inputs and removing terminal constraints. Experimental results comparing our method with traditional non-linear MPC schemes are also reported. They show that the controller is able to achieve an average Cartesian error on the end-effector position of 2 cm.
ISSN:2161-8089
DOI:10.1109/COASE.2019.8843088