Title:
Control of mobile manipulator using the dynamical systems approach
Control of mobile manipulator using the dynamical systems approach
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Author(s)
Ellekilde, Lars-Peter
Christensen, Henrik I.
Christensen, Henrik I.
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Abstract
The combination of a mobile platform and a
manipulator, known as a mobile manipulator, provides a highly
flexible system, which can be used in a wide range of applications,
especially within the field of service robotics. One of
the challenges with mobile manipulators is the construction
of control systems, enabling the robot to operate safely in
potentially dynamic environments. In this paper we will present
work in which a mobile manipulator is controlled using the
dynamical systems approach. The method presented is a two
level approach in which competitive dynamics are used both
for the overall coordination of the mobile platform and the
manipulator as well as the lower level fusion of obstacle
avoidance and target acquisition behaviors.
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Date Issued
2009-05
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Article