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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.).

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