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Autonomous motion of a mobile manipulator using a combined torque and velocity control

Published online by Cambridge University Press:  15 November 2004

Damir Omrčen ,
Leon Žlajpah  and
Bojan Nemec
Damir Omrčen
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1001 Ljubljana (Slovenia) E-mail: damir.omrcen@ijs.si
Leon Žlajpah
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1001 Ljubljana (Slovenia) E-mail: damir.omrcen@ijs.si
Bojan Nemec
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1001 Ljubljana (Slovenia) E-mail: damir.omrcen@ijs.si
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Abstract

The paper presents an algorithm for real-time motion control of a mobile manipulator in unstructured environments. The mobile manipulator consists of a velocity controlled mobile platform and a torque controlled manipulator. Therefore, a combination of torque and velocity control is used. For the obstacle avoidance two different principles are used: virtual repulsive velocity and action-reaction principle. The proposed control method has been verified on real system, composed of a mobile platform and a four DOFs manipulator arms. The results have been compared to the manipulator with a fixed base.

Keywords

Redundant manipulatorAutonomous motionObstacle avoidanceMobile manipulatorVelocity and torque control
Type
Research Article
Information
Robotica , Volume 22 , Issue 6 , November 2004 , pp. 623 - 632
Copyright
© 2004 Cambridge University Press

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