New approach for motion coordination of a mobile manipulator using fuzzy behavioral algorithms

In this paper a new approach for the coordination of the motion axes of a mobile manipulator based on fuzzy behavioral algorithms and its implementation on a physical demonstrator is presented. The kinematic redundancy of the overall system (consisting of a 7 DOF manipulator and a 3 DOF mobile robot) will be used for autonomous and reactive motion of the mobile manipulator within poorly structured and even dynamically changing surroundings. Sensors around the mobile and along the manipulator will provide the necessary information for navigation purposes and perception of the environment.