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Virtual joint method for kinematic modeling of wheeled mobile manipulators

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Abstract

In this paper, we propose a virtual joint method that better utilizes quasi-velocities for the kinematic modeling of wheeled mobile manipulators. By identifying quasi-velocities as motions of imaginary revolute and prismatic kinematic pairs, our method enables one to regard a mobile manipulator as an ordinary articulated manipulator for the purposes of velocity analysis. We also propose an inverse kinematic scheme for the mobile manipulators along the line with the virtual joint based kinematic framework. Details are worked out for mobile manipulators with representative differential-drive and car-like mobile platforms.

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Author information

Authors and Affiliations

  1. Department of control and instrumentation Engineering, Korea University, 2511 Sejong-ro, Sejong-City, 339-700, Korea

    Hyunhwan Jeong, Hyungsik Kim, Joono Cheong & Wheekuk Kim

Authors
  1. Hyunhwan Jeong
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  2. Hyungsik Kim
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  3. Joono Cheong
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  4. Wheekuk Kim
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Corresponding author

Correspondence to Joono Cheong.

Additional information

Hyunhwan Jeong received his B.S. degree in Control and Instrumentation Engineering from Korea University at Sejong in 2007. Since 2007, he has been studying as a Ph.D. candidate student at the department of Control and Instrumentation Engineering of Korea university, His current research interests include multi-fingered robotic hand and manipulation, mobile manipulator, tendon-driven robot, etc.

Hyungsik Kim received his M.S degree in Control and Instrumentation Engineering from Korea University at Sejong in 2013. Since 2013, he has been working at AMOTECH inc. at Seoul. His current research interests include robot manipulation control, mobile robot, RFID, etc.

Joono Cheong received his B.S., M.S., and Ph.D. degrees in Mechanical Engineering all from the Pohang University of Science and Technology (POSTECH), Korea, in 1995, 1997, and 2003, respectively. He was a postdoctoral researcher with the Research Laboratory of Electronics at Massachusetts Institute of Technology (MIT), Cambridge, MA from 2003 to 2005. Since 2005, he has been with the Department of Control and Instrumentation Engineering at Korea University, Sejong-City, Korea, where he is currently an Associate Professor. His main research interests include robotic manipulation, motion control, and tendon-driven systems.

Wheekuk Kim received his Ph.D. Degree in Mechanical Engineering from the University of Texas at Austin, in 1990. Since 1991, he has been working as a professor at the department of Control and Instrumentation Engineering, Korea University at Seojong. His current research interests include parallel robot design, screw theory, singularity analysis, parallel robot synthesis, robot kinematics, medical robot, mobile robot, haptics, etc.

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Jeong, H., Kim, H., Cheong, J. et al. Virtual joint method for kinematic modeling of wheeled mobile manipulators. Int. J. Control Autom. Syst. 12, 1059–1069 (2014). https://doi.org/10.1007/s12555-013-0057-1

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  • DOI: https://doi.org/10.1007/s12555-013-0057-1

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