OPERATIONAL TRAJECTORY FOLLOWING FOR WHEELED MOBILE MANIPULATORS
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Aug 20, 2010
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Abstract
This paper presents an approach for the trajectory following problem for wheeled mobile manipulators. The end-effector of the mobile manipulator has to follow a predefined operational trajectory in cluttered environments.
The control architecture of the robot consists of six independent agents. Four agents are installed on an off-board PC and the other agents are installed on the on-board PC of the mobile manipulator. Each agent models a principal function of the mobile manipulator and manages a different sub-system.
The validity of the approach is demonstrated using the RobuTER/ULM mobile manipulator. The end-effector of the manipulator is asked to follow a straight-line while the non-holonomic differentially-driven wheeled mobile base has to avoid the obstacles present in the environment. As the mobile base moves, the end-effector of the robot is positioned, as near as possible, at the preferred configuration (the straight-line) due to the different messages exchanged between the agents of the architecture (current position coordinates, orientation angles, etc.).
The control architecture of the robot consists of six independent agents. Four agents are installed on an off-board PC and the other agents are installed on the on-board PC of the mobile manipulator. Each agent models a principal function of the mobile manipulator and manages a different sub-system.
The validity of the approach is demonstrated using the RobuTER/ULM mobile manipulator. The end-effector of the manipulator is asked to follow a straight-line while the non-holonomic differentially-driven wheeled mobile base has to avoid the obstacles present in the environment. As the mobile base moves, the end-effector of the robot is positioned, as near as possible, at the preferred configuration (the straight-line) due to the different messages exchanged between the agents of the architecture (current position coordinates, orientation angles, etc.).