Movement Control of a Mobile Manipulator Based on Cost Optimization

In this paper, using the pre-determined specific tasks, a solid and complete solution for the optimal control of the mobile manipulator is proposed based on a divide and conquer scheme. In the scheme, a mobile manipulator is virtually divided into a mobile robot and a task robot. All the tasks are also divided into task segments that can be performed by only the task robot. An optimal configuration of the task robot is defined by the task oriented manipulability measure for given task segment. And using a cost function for optimality defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot, the job which the mobile manipulator performs is optimized. We figured out the solution for the optimal configuration of a mobile manipulator with a series of tasks.

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