Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation

  title={Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation},
  author={Denny Oetomo and Marcelo H ANG Jr and Rodrigo S. Jamisola and Oussama Khatib},
A mobile manipulation system often involves combining more than one robot together, typically a manipulator arm and a mobile base. To implement force and motion control with dynamic compensation, a torque-controlled system is necessary. However, a torque-controlled robot is not always available. In fact, most commercially available mobile bases are velocity-controlled. This paper presents a method for combining a torque-controlled arm and a velocity-controlled base, while performing a force and… Expand

Figures and Tables from this paper

Autonomous motion of a mobile manipulator using a combined torque and velocity control
An algorithm for real-time motion control of a mobile manipulator in unstructured environments using a combination of torque and velocity control and has been verified on real system. Expand
Combined Torque and Velocity Control of a Redundant Robot System
The mobile manipulator has large workspace and high dynamics, its accuracy is comparable to the fixed manipulator accuracy using appropriate sensors and appropriate control algorithm, and is often used as service robots that help humans in everyday jobs in everyday environments. Expand
The paper deals with torque-velocity control of a mobile manipulator that consists of a velocity controlled mobile platform and a torque controlled manipulator. In spite of a combined control theExpand
Torque-velocity control algorithm for on-line obstacle avoidance for mobile manipulators
The paper deals with obstacle avoidance for a mobile manipulator. Mobile manipulator consists of a velocity controlled mobile platform and a torque controlled robot manipulator. Therefore combinedExpand
Kinematic modelling and analysis of single leg in hybrid wheel-legged mobile robot
Mobile manipulators are extensively used in various applications. Most of the mobile manipulators are built on a wheeled mobile platform. A wheeled mobile platform performs well on flat terrains butExpand
Formulation of a Control and Path Planning Approach for a Cab front Cleaning Robot
Abstract This paper formulates a control and path planning approach for a Cab Front Cleaning Robot. Currently, the operation of cleaning the front part of a train cab is performed manually underExpand
From space to manufacturing industry : New approaches of eRobotics to serve todays and future manufacturing needs
This work presents our current efforts in the development of a comprehensive, versatile and holistic simulation platform to address robot-related issues in manufacturing. Along the lines of researchExpand
Towards Pervasive Robotics: Compliant Motion in Human Environments
  • M. Ang
  • Engineering, Computer Science
  • Int. J. Softw. Eng. Knowl. Eng.
  • 2005
This paper attempts to explain why and reviews compliant motion which is a crucial capability required to make robots pervasive and algorithms for control of compliant motion of manipulators are presented. Expand


Development and Control of a Holonomic Mobile Robot for Mobile Manipulation Tasks
To dynamically control the PCV, a new approach for modeling and controlling the dynamics of this parallel redundant system is proposed and the performance and significance of dynamic control and its effectiveness in mobile manipulation tasks are demonstrated. Expand
A unified approach for motion and force control of robot manipulators: The operational space formulation
  • O. Khatib
  • Engineering, Computer Science
  • IEEE J. Robotics Autom.
  • 1987
A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed, and the unified approach for motion and force control is developed. Expand
The Operational Space Formulation implementation to aircraft canopy polishing using a mobile manipulator
The Operational Space Formulation provides a framework for the analysis and control of manipulator systems with respect to the behavior of their end-effectors. Its application to aircraft canopyExpand
Manipulator control at kinematic singularities: a dynamically consistent strategy
  • Kyong-Sok K. C. Chang, O. Khatib
  • Mathematics, Computer Science
  • Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots
  • 1995
This paper presents a general strategy for manipulator control at kinematic singularities and experimental results of the implementation of this approach on a PUMA 560 manipulator are presented. Expand
Robots in Human Environments: Basic Autonomous Capabilities
The article presents developments of models, strategies, and algorithms concerned with a number of autonomous capabilities that are essential for robot operations in human environments, including integrated mobility and manipulation, cooperative skills between multiple robots, interaction ability with humans, and efficient techniques for real-time modification of collision-free path. Expand
Resolved Motion Rate Control of Manipulators and Human Prostheses
The kinematics of remote manipulators and human prostheses is analyzed and suggests solutions to problems of coordination, motion under task constraints, and appreciation of forces encountered by the controlled hand. Expand
Review of pseudoinverse control for use with kinematically redundant manipulators
  • C. Klein, Ch Huang
  • Computer Science
  • IEEE Transactions on Systems, Man, and Cybernetics
  • 1983
Kinematically redundant manipulators have a number of potential advantages over current manipulator designs and velocity control through pseudoinverses is suggested for this type of arm. Expand
Optimal Redundancy Control of Robot Manipulators
This paper discusses the optimal redundancy control problem of robot manipulators. The redundancy control problem has mostly been discussed in the framework of instantaneously optimal control. InExpand
Dynamic control of redundant manipulators
The authors provide a dynamic control law that guarantees the tracking of a given end-effector trajectory and also provides for the control of the redundant joint velocity. The desired redundantExpand
Manipulability of Robotic Mechanisms
This paper discusses the manipulating ability of robotic mechanisms in positioning and orienting end-effectors and proposes a measure of manipulability. Some properties of this measure are obtained,Expand