Whole-Body Control of a Mobile Manipulator Using Feedback Linearization Based on Dual Quaternions. Silva, F. F. A. & Adorno, B. V. In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), pages 293–298, Recife, October, 2016. IEEE. ![Whole-Body Control of a Mobile Manipulator Using Feedback Linearization Based on Dual Quaternions [link]](https://bibbase.org/img/filetypes/link.svg "link")
Paper doi abstract bibtex This paper presents a whole-body pose control of a mobile manipulator using a cascade scheme with two control loops. In the outer loop there is a nonlinear controller based on dual-quaternion feedback linearization—whose reference is a unit dual quaternion representing the desired end effector's pose—that acts as a dynamic trajectory generator and generates input signals for both nonholonomic mobile base and manip- ulator arm; the inner loop uses the input signals generated by the outer-loop as reference for an input-output linearizing controller that explicitly takes into account the nonholonomic constraints of the mobile base. Experimental results on a real platform are performed in order to compare the proposed scheme to a traditional whole-body kinematic controller using the pseudoinverse of the Jacobian matrix. The results show that the abrupt initial movement that is a characteristic of the classic approach, when the initial error is too large, is mitigated by the use of the nonlinear control.
@inproceedings{Silva2016,
title = {Whole-{{Body Control}} of a {{Mobile Manipulator Using Feedback Linearization Based}} on {{Dual Quaternions}}},
booktitle = {2016 {{XIII Latin American Robotics Symposium}} and {{IV Brazilian Robotics Symposium}} ({{LARS}}/{{SBR}})},
author = {Silva, Frederico Fernandes Afonso and Adorno, Bruno Vilhena},
year = {2016},
month = oct,
pages = {293--298},
publisher = {IEEE},
address = {Recife},
doi = {10.1109/LARS-SBR.2016.56},
abstract = {This paper presents a whole-body pose control of a mobile manipulator using a cascade scheme with two control loops. In the outer loop there is a nonlinear controller based on dual-quaternion feedback linearization---whose reference is a unit dual quaternion representing the desired end effector's pose---that acts as a dynamic trajectory generator and generates input signals for both nonholonomic mobile base and manip- ulator arm; the inner loop uses the input signals generated by the outer-loop as reference for an input-output linearizing controller that explicitly takes into account the nonholonomic constraints of the mobile base. Experimental results on a real platform are performed in order to compare the proposed scheme to a traditional whole-body kinematic controller using the pseudoinverse of the Jacobian matrix. The results show that the abrupt initial movement that is a characteristic of the classic approach, when the initial error is too large, is mitigated by the use of the nonlinear control.},
copyright = {All rights reserved},
isbn = {978-1-5090-3656-1},
url = {https://www.researchgate.net/publication/312435840_Whole-Body_Control_of_a_Mobile_Manipulator_Using_Feedback_Linearization_Based_on_Dual_Quaternions#fullTextFileContent}
}
Downloads: 0
{"_id":"vQi4HugJu7GSs9JTR","bibbaseid":"silva-adorno-wholebodycontrolofamobilemanipulatorusingfeedbacklinearizationbasedondualquaternions-2016","downloads":0,"creationDate":"2018-12-06T01:21:27.500Z","title":"Whole-Body Control of a Mobile Manipulator Using Feedback Linearization Based on Dual Quaternions","author_short":["Silva, F. F. A.","Adorno, B. V."],"year":2016,"bibtype":"inproceedings","biburl":"https://raw.githubusercontent.com/ffasilva/ffasilva.github.io/master/files/bibliography.bib","bibdata":{"bibtype":"inproceedings","type":"inproceedings","title":"Whole-Body Control of a Mobile Manipulator Using Feedback Linearization Based on Dual Quaternions","booktitle":"2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)","author":[{"propositions":[],"lastnames":["Silva"],"firstnames":["Frederico","Fernandes","Afonso"],"suffixes":[]},{"propositions":[],"lastnames":["Adorno"],"firstnames":["Bruno","Vilhena"],"suffixes":[]}],"year":"2016","month":"October","pages":"293–298","publisher":"IEEE","address":"Recife","doi":"10.1109/LARS-SBR.2016.56","abstract":"This paper presents a whole-body pose control of a mobile manipulator using a cascade scheme with two control loops. In the outer loop there is a nonlinear controller based on dual-quaternion feedback linearization—whose reference is a unit dual quaternion representing the desired end effector's pose—that acts as a dynamic trajectory generator and generates input signals for both nonholonomic mobile base and manip- ulator arm; the inner loop uses the input signals generated by the outer-loop as reference for an input-output linearizing controller that explicitly takes into account the nonholonomic constraints of the mobile base. Experimental results on a real platform are performed in order to compare the proposed scheme to a traditional whole-body kinematic controller using the pseudoinverse of the Jacobian matrix. The results show that the abrupt initial movement that is a characteristic of the classic approach, when the initial error is too large, is mitigated by the use of the nonlinear control.","copyright":"All rights reserved","isbn":"978-1-5090-3656-1","url":"https://www.researchgate.net/publication/312435840_Whole-Body_Control_of_a_Mobile_Manipulator_Using_Feedback_Linearization_Based_on_Dual_Quaternions#fullTextFileContent","bibtex":"@inproceedings{Silva2016,\n title = {Whole-{{Body Control}} of a {{Mobile Manipulator Using Feedback Linearization Based}} on {{Dual Quaternions}}},\n booktitle = {2016 {{XIII Latin American Robotics Symposium}} and {{IV Brazilian Robotics Symposium}} ({{LARS}}/{{SBR}})},\n author = {Silva, Frederico Fernandes Afonso and Adorno, Bruno Vilhena},\n year = {2016},\n month = oct,\n pages = {293--298},\n publisher = {IEEE},\n address = {Recife},\n doi = {10.1109/LARS-SBR.2016.56},\n abstract = {This paper presents a whole-body pose control of a mobile manipulator using a cascade scheme with two control loops. In the outer loop there is a nonlinear controller based on dual-quaternion feedback linearization---whose reference is a unit dual quaternion representing the desired end effector's pose---that acts as a dynamic trajectory generator and generates input signals for both nonholonomic mobile base and manip- ulator arm; the inner loop uses the input signals generated by the outer-loop as reference for an input-output linearizing controller that explicitly takes into account the nonholonomic constraints of the mobile base. Experimental results on a real platform are performed in order to compare the proposed scheme to a traditional whole-body kinematic controller using the pseudoinverse of the Jacobian matrix. The results show that the abrupt initial movement that is a characteristic of the classic approach, when the initial error is too large, is mitigated by the use of the nonlinear control.},\n copyright = {All rights reserved},\n isbn = {978-1-5090-3656-1},\n url = {https://www.researchgate.net/publication/312435840_Whole-Body_Control_of_a_Mobile_Manipulator_Using_Feedback_Linearization_Based_on_Dual_Quaternions#fullTextFileContent}\n}\n\n","author_short":["Silva, F. F. A.","Adorno, B. V."],"key":"Silva2016","id":"Silva2016","bibbaseid":"silva-adorno-wholebodycontrolofamobilemanipulatorusingfeedbacklinearizationbasedondualquaternions-2016","role":"author","urls":{"Paper":"https://www.researchgate.net/publication/312435840_Whole-Body_Control_of_a_Mobile_Manipulator_Using_Feedback_Linearization_Based_on_Dual_Quaternions#fullTextFileContent"},"metadata":{"authorlinks":{}},"downloads":0,"html":""},"search_terms":["whole","body","control","mobile","manipulator","using","feedback","linearization","based","dual","quaternions","silva","adorno"],"keywords":[],"authorIDs":[],"dataSources":["DkimA3ELZBoSLyvg5","dsoGhxmmXxzmf4jgB","nyQLhNT3jBAeHyzY8","H98N55i88H66qo2xk","kYpkYoH4HnAwg9KvQ","KaaqmDwmGHqCKCP8G"]}