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.
A Force Exertion Method for Redundant Mobile Manipulators Safely Operating in Small Spaces
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-16
11 pages
Article/Chapter (Book)
Electronic Resource
English
Redundant Mobile Manipulator , Hybrid Force-impedance Control , Force Manipulability Optimization Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems
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