Integrated Task Planning and Control for Mobile Manipulators

Tan, Jindong; Xi, Ning; Wang, Yuechao

doi:10.1177/027836403128965105

Cited by 10 publications

(12 citation statements)

References 8 publications

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“…The earliest results in pushing carts using robots were achieved using a single manipulator mounted on a mobile holonomic base [14], [15], [16]. In these systems the manipulator came into contact with the cart at a single point, and the problem was to solve for the effector forces required to produce desired trajectories with the cart.…”

Section: A Related Workmentioning

confidence: 99%

Cart pushing with a mobile manipulation system: Towards navigation with moveable objects

Scholz

Chitta

Marthi

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-Robust navigation in cluttered environments has been well addressed for mobile robotic platforms, but the problem of navigating with a moveable object like a cart has not been widely examined. In this work, we present a planning and control approach to navigation of a humanoid robot while pushing a cart. We show how immediate information about the environment can be integrated into this approach to achieve safer navigation in the presence of dynamic obstacles. We demonstrate the robustness of our approach through longrunning experiments with the PR2 mobile manipulation robot in a typical indoor office environment, where the robot faced narrow and high-traffic passageways with very limited clearance.

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Section: A Related Workmentioning

confidence: 99%

Cart pushing with a mobile manipulation system: Towards navigation with moveable objects

Scholz

Chitta

Marthi

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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“…However, until now, more researches have been done to investigate the dynamics of mobile manipulator with the fullactuated joints (Tan & Xi 2002, Yamamoto & Fukuda 2002, Jamisola & Ang 2002 and robot underactuated manipulators (De Luca 2000). And less research is made about the topic of the mobile underactuated manipulator.…”

Section: Control Of Nonholonomic Mobile Underactuated Manipulatormentioning

confidence: 99%

Develop Human Safety Mechanism for Human-Symbiotic Mobile Manipulators: Compliant Hybrid Joints

Li¹,

Luo²,

Xie³

et al. 2006

Mobile Robots: Towards New Applications

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“…The task has been formulated as an optimal control problem and solved by using an iterative algorithm based on the gradient function synthesized in a hierarchical manner considering the order of priority. In [17] Tan et al have proposed integrated task planning and a control approach for manipulating a nonholonomic cart by a mobile robot consisting of a holonomic platform and on-board manipulator. The kinematic redundancy and dynamic properties of the platform and the manipulator arm have been considered.…”

Section: Introductionmentioning

confidence: 99%

Point-to-Point Collision-Free Trajectory Planning for Mobile Manipulators

Pająk

2016

J Intell Robot Syst

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The collision-free trajectory planning method subject to control constraints for mobile manipulators is presented. The robot task is to move from the current configuration to a given final position in the workspace. The motions are planned in order to maximise an instantaneous manipulability measure to avoid manipulator singularities. Inequality constraints on state variables i.e. collision avoidance conditions and mechanical constraints are taken into consideration. The collision avoidance is accomplished by local perturbation of the mobile manipulator motion in the obstacles neighbourhood. The fulfilment of mechanical constraints is ensured by using a penalty function approach. The proposed method guarantees satisfying control limitations resulting from capabilities of robot actuators by applying the trajectory scaling approach. Nonholonomic constraints in a Pfaffian form are explicitly incorporated into the control algorithm. A computer example involving a mobile manipulator consisting of nonholonomic platform (2,0) class and 3DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.

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Integrated Task Planning and Control for Mobile Manipulators

Abstract: In this paper we present an approach to decoupled force/position control of the end-effector along the same direction for redundant

Cited by 10 publications

References 8 publications

Cart pushing with a mobile manipulation system: Towards navigation with moveable objects

Cart pushing with a mobile manipulation system: Towards navigation with moveable objects

Develop Human Safety Mechanism for Human-Symbiotic Mobile Manipulators: Compliant Hybrid Joints

Point-to-Point Collision-Free Trajectory Planning for Mobile Manipulators

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