HYBRID FORCE/POSITION CONTROL OF REDUNDANT MOBILE MANIPULATORS

Abstract This paper presents a novel force control scheme for redundant mobile manipulators. Based on a decoupled and linearized dynamic model for integrated mobile platform and on-board manipulator, robotic tasks involving both position and output force control are discussed. Take the advantage of the kinematic redundancy of mobile manipulators, explicit force and position control at the same task direction is discussed based on the decoupled mathematical model. The force planning is also discussed based on a nonholonomic cart pushing task. The proposed force/position control approach has been implemented and tested on a mobile manipulator consisting of a Nomadic XR4000 and a Puma 560 robot arm.

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