Motion-distribution method in triple-trajectory tracking of a high redundant non-holonomic MDAMs under joint limits

This paper presents a motion distribution-based triple-trajectory tracking method for a high redundant Mobile Dual-Arm Manipulator System (MDAMs) which acts as a personal assistant. The MDAMs consists of one non-holonomic mobile platform, one holonomic body with a moving waist, two 7-DoFs arms and two dexterous hands. Inspired by human movement determination, a new subtask is introduced, i.e., the relative motion of the right end-effector (EE) with respect to its body frame. Two relative task variables are introduced which allow the control of the right EE in the world frame and the left EE with respect to the right EE. Moreover, two compact relative Jacobian matrices are constructed to link the joint space with the task space. Furthermore, the task-priority based inverse kinematic (IK) solving method is applied by using pseudo-inverse Jacobian matrix. Finally, a semi-decentralized control law is proposed for the MDAMs with kinematic control law for the mobile part. This paper builds a mathematical MDAMs model and numerically simulates a triple-trajectory tracking by using the proposed control law. The simulation results validate the effectiveness of the triple-trajectory tracking control method.