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

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 ob...

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Bibliographic Details
Published in:Robotica 2004-11, Vol.22 (6), p.623-632
Main Authors: Omrčen, Damir, Žlajpah, Leon, Nemec, Bojan
Format: Article
Language:English
Subjects:
Autonomous motion
Mobile manipulator
Obstacle avoidance
Redundant manipulator
Velocity and torque control
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Summary: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.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574704000293