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2009 IEEE International Conference on Robotics and Automation
Kobe International Conference Center
Kobe, Japan, May 12-17, 2009
Control of Mobile Manipulator using the Dynamical Systems Approach
Lars-Peter Ellekilde
Abstract—The combination of a mobile platform and a manipulator, known as a mobile manipulator, provides a highly flexible system, which can be used in a wide range of applications, especially within the field of service robotics. One of the challenges with mobile manipulators is the construction of control systems, enabling the robot to operate safely in potentially dynamic environments. In this paper we will present work in which a mobile manipulator is controlled using the dynamical systems approach. The method presented is a two level approach in which competitive dynamics are used both for the overall coordination of the mobile platform and the manipulator as well as the lower level fusion of obstacle avoidance and target acquisition behaviors.
I. INTRODUCTION
The majority of robotic research has in the last decades focused on either mobile platforms or manipulators, and there have been many impressive results within both areas. Today one of the new challenges is to combine the two areas, into systems, which are both highly mobile and have the ability to manipulate the environment. Especially within service robotics there will be an increased need for such systems. The demography of most western countries causes the number of old people in need of care to increase, while there will be less working to actually support them. This requires an increased automation of the service sector, for which robots able to operate safely in indoor and dynamic environments are essential.
Fig. 1. Platform consisting of a Segway RMP200 and a Kuka Light Weight Robot.
The platform used in this work is shown in Figure 1, and consist of a Segway RMP200 with a Kuka Light Weight Robot. The result is a platform that has a relative small footprint and is highly maneuverable
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