Paper Info
Title
A hierarchical control scheme for coordinated motion of mobile manipulators
Abstract
Mobile manipulators are becoming more widespread, with growing commercial and scientific interest in their use. The addition of a mobile base to a manipulator greatly extends the workspace of the manipulator, but introduces complex control problems involving coordination of base and manipulator motion while simultaneously ensuring platform stability and good manipulability during task execution. This paper describes a hierarchical control scheme for a mobile manipulator designed to maintain manipulability and stability performance metrics within specified thresholds during the execution of manipulation tasks. We demonstrate the effectiveness of our control scheme by applying it to control of a simulated nonholonomic base with a 6 degree-of-freedom manipulator. Our simulation results show that the controller successfully completes a manipulation task involving multiple end-effector targets, and maintains stability and manipulability to the desired thresholds throughout.
Year
DOI
Venue
2011
10.1109/ICARA.2011.6144868
Automation, Robotics and Applications
Keywords
Field
DocType
control system synthesis,end effectors,mobile robots,motion control,complex control problem,coordinated motion,degree-of-freedom manipulator,hierarchical control scheme,manipulation task,mobile manipulator design,multiple end effector target,simulated nonholonomic base,stability performance metrics,task execution
Parallel manipulator,Motion control,Control theory,Workspace,Computer science,Control theory,Robot end effector,Nonholonomic system,Mobile robot,Mobile manipulator
Conference
ISBN
Citations 
PageRank 
978-1-4577-0329-4
0
0.34
References 
Authors
5
2
Name
Order
Citations
PageRank
Kelvin Gong100.68
Allan I Mcinnes294.32