Reactive Mobile Manipulation: Design and Implementation

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Author(s)
Ögren, Petter
Hu, Xiaoming
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http://hdl.handle.net/1853/38672
Abstract
A solution to the trajectory tracking problem for mobile manipulators is proposed and implemented on a real robotic system. Given a trajectory for the gripper to follow, a tracking algorithm for the manipulator is designed, and at the same time the base motions are generated in such a way that the base is coordinated with the gripper while reactively avoiding obstacles. Furthermore, it is shown that the method allows arbitrary upper and lower bounds on the gripper-base distance to be set, and this can be achieved without introducing deadlocks into the system.
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2000-12
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