A new method of executing multiple auxiliary tasks by redundant nonholonomic mobile manipulators

This paper addresses the multiple tasks performing issues for redundant nonholonomic mobile manipulators. An extended gradient projection redundancy resolution scheme is proposed which can determine the directions of self-motion to perform multiple secondary tasks. This scheme is easy to use and can avoid algorithm singularities. A general dynamic modeling method is presented in consideration of nonholonomic constraints, interactive motions and self-motions. A real-time fuzzy logic self-motion planner is devised to create desired self-motion magnitudes and a robust adaptive neural-network controller is designed to accomplish multiple secondary tasks without affecting the primary one in the workspace. The effectiveness of the proposed algorithm is verified through simulations for a 3-DOF manipulator atop a 3-wheeled mobile platform system.