Coordinated Trajectory Following for Mobile Manipulation

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Hu, Xiaoming
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http://hdl.handle.net/1853/38674
Abstract
A platform independent control approach for mobile manipulation and coordinated trajectory following is proposed and analyzed. Given a path for the gripper to follow, another path is planned for the base in such a way that it is feasible with respect to manipulability. The base and the end-effector then follow their respective reference trajectories according to proven stable, error-feedback control algorithms, while the base is placed in such a way that the end-effector trajectory always is within reach for the manipulator.
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2000-04
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