Control of posture and tool location using a single force/torque sensor

Describes a control scheme combining a mobile platform which is commanded at the velocity level with a position controlled robot arm. Based on separate controllers for both subsystems a method for force guidance is proposed which provides control of the tool location and of the posture of the mobile platform. Only a single force/torque sensor is used for this purpose. Also the slower dynamic response of the mobile platform compared to the manipulator is taken into account. Preferred configurations of the arm where the highest manipulability is provided are used for the underlying coordination.