Generation of large pulling force by a mobile manipulator through singular configuration

This paper deals with the optimal motion of a mobile manipulator for dragging a heavy object with the end effector. When the object is moved a certain distance, the torques that are consumed in the mobile manipulator during the motion are minimized by numerical optimization. In the optimized motion, the arm mounted on the mobile base passes through its singular configuration, and a large force to pull the object is generated simultaneously. A theoretical analysis is performed to explain the numerical results by using a simplified model of the mobile manipulator.