Title :
Integrated sensing and control of mobile manipulators
Author :
Tan, Jindong ; Xi, Ning
Author_Institution :
Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA
Abstract :
The paper proposes, an integrated sensing and control framework for autonomous mobile manipulators. First, the mobile manipulator is considered as a redundant robot, while a unified dynamic model for an integrated mobile platform and on-board manipulator are developed. Combining the event-based planning and control method with a nonlinear feedback technique, a task level action controller is designed and an online kinematic redundancy resolution scheme is developed. Secondly, a force/torque sensor and a laser range sensor are used for the mobile manipulator to interact with objects and the environment. A nonholonomic cart pushing task has demonstrated the advantages of the integrated sensing and control approach of a mobile manipulator. The sensing and control approaches are tested on a mobile manipulator consisting of a Nomadic XR4000 and a Puma 560 robot arm
Keywords :
control system synthesis; feedback; force sensors; laser ranging; linearisation techniques; mobile robots; nonlinear control systems; redundant manipulators; sensor fusion; Nomadic XR4000; Puma 560 robot arm; autonomous mobile manipulators; event-based control method; event-based planning; force/torque sensor; integrated sensing and control framework; laser range sensor; nonholonomic cart pushing task; nonlinear feedback technique; online kinematic redundancy resolution scheme; redundant robot; task level action controller; unified dynamic model; Force sensors; Laser feedback; Manipulator dynamics; Mobile computing; Mobile robots; Motion control; Path planning; Robot kinematics; Robot sensing systems; Whales;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976277
