Mobile manipulator is increasingly expected to undertake tasks in intelligent automated factories. However, when facing resistance tasks in small spaces, it is a challenge to ensure the safety of target objects and robots without using high-precision positioning sensors. To address this issue, we propose a force exertion method for redundant mobile manipulators. To improve force exertion capability, the force manipulability ellipsoid of the mobile manipulator is optimized by exploiting its redundancy under a whole-body controller. Furthermore, a hybrid force-impedance control strategy is developed to guarantee safe operation in compact-space resistance tasks. The proposed method is validated by performing a turn-on-switch experiment.


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    Title :

    A Force Exertion Method for Redundant Mobile Manipulators Safely Operating in Small Spaces


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Zhao, Guanyi (author) / Wu, Yuqiang (author)

    Conference:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Publication date :

    2023-10-16


    Size :

    11 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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