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A Modular Hierarchical Control Scheme for Mobile Manipulation

  • Kelvin Gong
  • Allan I. McInnes
Chapter
Part of the Studies in Computational Intelligence book series (SCI, volume 480)

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.

Keywords

Target Position Controller Design Target Point Obstacle Avoidance Mobile Manipulator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Electrical and Computer EngineeringUniversity of CanterburyChristchurchNew Zealand

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