학술논문
Multi-Trajectory Approach for a Generic Coordination Paradigm of Wheeled Mobile Manipulators
Document Type
Periodical
Author
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 7(2):2329-2336 Apr, 2022
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
This letter presents a generic coordination approach for the control of mobile manipulators. It is based on an external coupled coordination and exploits a multi-trajectory following approach. A coordination stage provides optimal offsets with respect to system sub-parts reference trajectories that minimize a cost function to manage the system redundancies. In order to face the diversity of tasks to be performed by the robotic platform, the cost function is composed of different criteria that can be adapted, pending on the mission assigned to the robot. A demonstration of its generic properties is proposed on different mobile manipulator structures in simulations. Finally, the effectiveness of the proposed method is evaluated through full-scale experiments with a single-arm skid steering mobile manipulator.