Weighted singularity-robust inverse with criterion function optimization of redundant mobile manipulators in 3D space with defense applications

A 9-DoF mobile robotic manipulator system consisting of a 7-DoF redundant manipulator and a differentially driven 2-DoF mobile non-holonomic platform was mathematically modeled to represent a general redundant mobile manipulator. The control of the 3-degree of redundancy system combines the mobility and manipulation, expands on the conventional control methods and introduces user-specified weights to the singularity-robust (S-R) inverse of the Jacobian. Criterion function weight was added to the weight matrix to optimize the control based on joint limit avoidance. A numerical example to apply and compare several control methods was presented. Singularity and joint limit avoidance along with user-defined motion preference were implemented in simulation. Possible applications in defense were explored.