• English
  • Deutsch
  • Log In
    Password Login
    Research Outputs
    Fundings & Projects
    Researchers
    Institutes
    Statistics
Repository logo
Fraunhofer-Gesellschaft
  1. Home
  2. Fraunhofer-Gesellschaft
  3. Konferenzschrift
  4. Singularity avoidance for over-actuated, pseudo-omnidirectional, wheeled mobile robots
 
  • Details
  • Full
Options
2009
Conference Paper
Title

Singularity avoidance for over-actuated, pseudo-omnidirectional, wheeled mobile robots

Abstract
For mobile platforms with steerable standard wheels it is necessary to precisely coordinate rotation and steering angle of their wheels. An established approach to ensure this is to represent the current state of motion in form of the Instantaneous Centre of Motion (ICM) and to derive a trajectory within this space. However, while control in the ICM space does guarantee adherence to the system's nonholonomic constraints, it does not avoid the system's singular configurations. Within this work we address the problem of singularity avoidance within the ICM space. Singularities related to the mathematical representation of the ICM are reduced by a reformulation of this representation. Furthermore, a controller based on artificial potential fields avoiding singular configurations of the robot by representing them as obstacles in the derived ICM space is designed. The resulting controller is particularized and analyzed w.r.t. the Care-O-bot 3 demonstrator.
Author(s)
Connette, Christian P.
Parlitz, Christopher
Hägele, Martin
Verl, Alexander
Mainwork
IEEE International Conference on Robotics and Automation, ICRA 2009. DVD  
Conference
International Conference on Robotics and Automation (ICRA) 2009  
DOI
10.1109/ROBOT.2009.5152450
Language
English
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Keyword(s)
  • COGNIRON

  • DESIRe

  • mobile robot

  • mobiler Roboter

  • Care-O-Bot

  • Roboter

  • Rad

  • Cookie settings
  • Imprint
  • Privacy policy
  • Api
  • Contact
© 2024