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This paper presents an integrated scheme for motion control and internal force control for a redundantly actuated omnidirectional wheeled mobile robot. The interactive forces between a robot body and its wheels can be reduced into two orthogonal parts: motion-induced forces and internal forces. First, it is shown that the internal forces reside in the null space of the coefficient matrix of the interactive...
Because of the complexity of the mechanisms of redundantly actuated omni-directional wheeled mobile robots (WMR), its motion regulation is a challenging problem, especially for consideration of the interaction force between the redundantly actuated wheels. The interaction force can be decomposed into motion-induced force and internal force, which are orthogonal between each other. Only the motion-induced...
Omnidirectional mobile manipulator, which is composed by a three DOF omnidirectional mobile platform and a mounted manipulator, can move in any direction at any time. By reason of the redundantly actuated mechanism, the omnidirectional motion property of the mobile platform is similar to the parallel manipulator cooperatively manipulating objects, which admits internal force doing none contribution...
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