Abstract
In this chapter, the application of the ZD approach is further investigated to the velocity-level RMP of mobile redundant robot manipulators. That is, by introducing three different ZFs and by exploiting the ZD design formula, we propose, develop, and investigate a velocity-level RMP performance index. Then, based on such a performance and with physical limits considered, the resultant RMP scheme is presented and investigated to remedy the joint-angle drift phenomenon of mobile redundant robot manipulators. Such a scheme is reformulated as a QP, which is solved by a numerical algorithm. With two path-tracking examples, simulation results based on a wheeled mobile robot manipulator substantiate well the effectiveness and accuracy of the proposed velocity-level RMP scheme (as well as show the application prospect of the presented ZD approach once again).
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