Abstract
The addition of a mobile base to a robotic manipulator greatly extends the workspace of the manipulator, but introduces complex control problems involving coordination of base and manipulator motion. We describe a modular, hierarchical control scheme for a mobile manipulator, designed to coordinate motion of the manipulator and base to maintain various performance metrics. We demonstrate the effectiveness of our control scheme by developing a controller that maintains the stability and manipulability of a nonholonomic base with a 6 degree-of-freedom manipulator while executing manipulation tasks. We demonstrate the modularity of our control scheme by showing how the controller can be extended to avoid obstacles without requiring redesign of the rest of the controller. Simulation results show the controller completing a task involving multiple end-effector targets, avoiding simple obstacles, and maintaining stability and manipulability within desired limits.
Based on “A Hierarchical Control Scheme for Coordinated Motion of Mobile Manipulators”, by Kelvin Gong and Allan I. McInnes which appeared in the Proceedings of the 5th International Conference on Automation, Robotics and Applications (ICARA 2011). ©2011 IEEE.
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Gong, K., McInnes, A.I. (2013). A Modular Hierarchical Control Scheme for Mobile Manipulation. In: Sen Gupta, G., Bailey, D., Demidenko, S., Carnegie, D. (eds) Recent Advances in Robotics and Automation. Studies in Computational Intelligence, vol 480. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37387-9_19
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DOI: https://doi.org/10.1007/978-3-642-37387-9_19
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