This video accompanies the paper by Juan José Quiroz-Omaña and Bruno Vilhena Adorno ( 2017), entitled “Whole-Body Kinematic Control of Nonholonomic Mobile Manipulators Using Linear Programming,” published in Journal of Intelligent & Robotic Systems.
That paper presents some improvements to the robot kinematic control strategy based on linear programming, as well as its application to a nonholonomic mobile manipulator. In addition to being computationally efficient, the approach based on linear programming enables the inclusion of inequality and equality constraints in the system control inputs and has formal guarantee of stability. The nonholonomic constraint of the mobile base is imposed as an equality constraint, and inequality constraints are defined to avoid both violation of joint limits and collisions between the mobile base and obstacles in the plane.
