Joint Control of a TRRLR Mobile Manipulator for Unstructured Terrain

摘要

A mobile manipulator which is combination of a mobile platform and a manipulator, provides a highly flexible system, which can be used in hazardous application. One of the challenges with mobile manipulators is the construction of control systems, enabling the robot to operate safely in potentially dynamic and all terrain environments. In this paper we will present work in which a mobile manipulator is controlled using the hybrid approach. The method presented is a real time approach in which inverse kinematics of the arm with onboard sensor data processing 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.