A Biobjective Scheme for Kinematic Control of Mobile Robotic Arms With Manipulability Optimization

Zhengtai Xie, Long Jin, Xin Luo, Meng Chu Zhou, Yu Zheng

Research output: Contribution to journalArticlepeer-review


In combination with a robotic arm, a mobile platform can fulfill complicated functions but may encounter singularity problems. To solve them, this work investigates the kinematic control of a mobile robotic arm (MRA) that is based on a redundant arm mounted on a mobile robot. Specifically, a quadratic program-based biobjective (QPBO) scheme is proposed, which integrates manipulability optimization and the minimum velocity infinite-norm. Accordingly, a modified neural dynamics (MND) is founded with its stability substantiated by Lyapunov stability analyses theoretically. Furthermore, simulations, comparisons, and experiments are carried out on an MRA, from which the feasibility, effectiveness, and superiority of QPBO are validated. In conclusion, the proposed scheme is of great significance for enhancing the manipulability of MRA while reducing the maximum joint velocity.

Original languageEnglish (US)
Pages (from-to)1-12
Number of pages12
JournalIEEE/ASME Transactions on Mechatronics
StateAccepted/In press - 2023

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


  • Arms
  • Kinematics
  • Manipulability
  • Manipulators
  • Mobile robots
  • Optimization
  • Robot kinematics
  • Robots
  • minimum velocity infinite-norm
  • mobile robotic arm (MRA)
  • neural dynamics (ND)


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