A Hybrid Control Architecture for Mobile Manipulation

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HybridManipulation.pdf (780 KB)
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Petersson, L.
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http://hdl.handle.net/1853/38677
Abstract
We present a scheme for mobile manipulation by introducing a mobile manipulation control architecture (MMCA). This architecture is motivated by a need for a systematic control structure for robotic manipulation within a behavior based framework. The control structure enables integration of the manipulator into a behavior based control structure for the platform. Furthermore, our suggested MMCA is designed in such a way that it supports design and performance analysis from both a manipulator dynamics and a hybrid automata perspective.
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1999-10
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