Autonomous motion of a mobile manipulator using a combined torque and velocity control

Authors:
Damir Omrč/en;Leon Ž/lajpah;Leon &ZCARON/lajpah;Bojan Nemec
Affiliations:
Robotics Laboratory, Jož/ef Stefan Institute, Jamova 39, 1001 Ljubljana (Slovenia), damir.omrcen@ijs.si;Robotics Laboratory, Jož/ef Stefan Institute, Jamova 39, 1001 Ljubljana (Slovenia), damir.omrcen@ijs.si;Robotics Laboratory, Jož/ef Stefan Institute, Jamova 39, 1001 Ljubljana (Slovenia), damir.omrcen@ijs.si;Robotics Laboratory, Jož/ef Stefan Institute, Jamova 39, 1001 Ljubljana (Slovenia), damir.omrcen@ijs.si
Venue:
Robotica
Year:
2004

Citing 2
Cited 2

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A control of two wheels driven redundant mobile manipulator using a monocular camera system

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Abstract

The paper presents an algorithm for real-time motion control of a mobile manipulator in unstructured environments. The mobile manipulator consists of a velocity controlled mobile platform and a torque controlled manipulator. Therefore, a combination of torque and velocity control is used. For the obstacle avoidance two different principles are used: virtual repulsive velocity and action-reaction principle. The proposed control method has been verified on real system, composed of a mobile platform and a four DOFs manipulator arms. The results have been compared to the manipulator with a fixed base.