### Optimization and Systems Theory Seminar

Thursday, Nov. 11, 1999, 15.30-16.30, Room 3721, Lindstedtsv. 25

**Claudio Altafini**

Optimization and Systems Theory

KTH

E-mail: claudio.altafini@math.kth.se

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Motion generation and control for a kinematic mobile manipulator: a geometric framework

Kinematically, a mobile manipulator i.e. a robot arm mounted on the
top of a mobile platform, is a concatenation of rigid body motions in
SE(3), the Special Euclidean Group and its subgroups. The formalism
of exponential coordinates is used to generate a smooth curve for the
end-effector of the robot. In particular, different closed-form cubic
polynomials in SE(3) can be obtained from boundary data with the De
Casteljau algorithm. Pseudoinversion techniques applied to the
Jacobian of the kinematic chain allow then to transform the path of
the end-effector into joint space trajectories via the product of
exponentials formula. The higher bandwidth of the arm controller is
used to couple the open-loop motion obtained via the inverse kinematic
scheme with a trajectory tracking feedback in order to compensate for
disturbances and/or unmodelled dynamics of the mobile platform.

Calendar of seminars

*Last update: November 3, 1999 by
Anders Forsgren,
anders.forsgren@math.kth.se.
*