Control modes validation for generalized point to point task executions application: Robuter/UML mobile manipulator

This paper presents implementation of time optimal generated trajectories, on a mobile manipulator. The executed task involves a generalized point to point trajectory generation, connecting initial and final imposed configurations. The trajectories are off-line generated considering kinematic constraints. Trajectory tracking is not guaranteed due to the controllers implemented on the real robot. Inherent changes on the environment surrounding the robot can also occurred. We propose in this paper to insert modules to the existing controller blocks of both manipulator and mobile platform allowing switching between velocity control mode (existing control mode) and position control mode. That allows reaching the final configuration with minimum error, or obstacle avoidance for the sudden environment changing.