A Minimum-Energy Control Approach for Redundant Mobile Manipulators in Physical Human-Robot Interaction Applications
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable control methodologies is essential since mobile manipulators introduce additional degrees of freedom, making the design of control approaches more challenging and more prone to performance optimization. This paper proposes a control approach for a mobile manipulator, composed of a mobile base equipped with a robotic arm mounted on the top, with the objective of minimizing the overall kinetic energy stored in the whole-body mobile manipulator in physical human-robot interaction applications. The approach is experimentally tested with reference to a peg-in-hole task, and the results demonstrate that the proposed approach reduces the overall kinetic energy stored in the whole-body robotic system and improves the system performance compared with the benchmark method.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Low-Cost Teleoperation Extension for Mobile Manipulators
Teleoperation of mobile bimanual manipulators requires simultaneous control of high-dimensional systems, often necessitating expensive specialized equipment. We present an open-source teleoperation framework that enables…
The Port-Hamiltonian Structure of Vehicle Manipulator Systems
This paper presents a port-Hamiltonian formulation of vehicle-manipulator systems (VMS), a broad class of robotic systems including aerial manipulators, underwater manipulators, space robots, and omnidirectional mobile m…
Computing forward statics from tendon-length in flexible-joint hyper-redundant manipulators
Hyper-redundant tendon-driven manipulators of- fer greater flexibility and compliance over traditional manipu- lators. A common way of controlling such manipulators relies on adjusting tendon lengths, which is an accessi…
Simultaneous Stiffness and Trajectory Optimization for Energy Minimization of Pick-and-Place Tasks of SEA-Actuated Parallel Kinematic Manipulators
A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinematic manipulators (PKM) are frequently empl…
Catch the Ball: Accurate High-Speed Motions for Mobile Manipulators via Inverse Dynamics Learning
Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipul…