Control of mobile manipulator using the dynamical systems approach

Authors:
Lars-Peter Ellekilde;Henrik I. Christensen
Affiliations:
The Maersk Mc-Kinney Moller Institute, Faculty of Engineering, University of Southern Denmark, Odense M, Denmark;Center for Robotics and Intelligent Machines, Interactive Computing/College of Computing, Georgia Institute of Technology, Street, Atlanta, GA
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 2
Cited 1

Real-time obstacle avoidance for manipulators and mobile robots

International Journal of Robotics Research
Tool Center Trajectory Planning for Industrial Robot Manipulators Using Dynamical Systems

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Smooth continuous transition between tasks on a kinematic control level: Obstacle avoidance as a control problem

Robotics and Autonomous Systems

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Abstract

The combination of a mobile platform and a manipulator, known as a mobile manipulator, provides a highly flexible system, which can be used in a wide range of applications, especially within the field of service robotics. One of the challenges with mobile manipulators is the construction of control systems, enabling the robot to operate safely in potentially dynamic environments. In this paper we will present work in which a mobile manipulator is controlled using the dynamical systems approach. The method presented is a two level approach in which competitive dynamics are used both for the overall coordination of the mobile platform and the manipulator as well as the lower level fusion of obstacle avoidance and target acquisition behaviors.