An algorithm for the tele-operation of mobile-manipulator systems with a focus on ease of use for the operator is presented. The algorithm allows for unified, intuitive, and coordinated control of mobile manipulators. It consists of three states. In the first state, a single 6-degrees-offreedom (DOF) joystick is used to control the manipulator's position and orientation. The second state occurs when the manipulator approaches a singular configuration, resulting in the mobile base moving in a manner so as to keep the end-effector travelling in its last direction of motion. This is done through the use of a constrained optimization routine. The third state is entered when the operator returns the joystick to the home position. Both the mobile base and manipulator move with respect to one another keeping the end-effector stationary and placing the manipulator into an ideal configuration. The algorithm has been implemented on an 8-DOF mobile manipulator and the test results show that it is effective at moving the system in an intuitive manner.
An algorithm for the simplified tele-operation of a mobile-manipulator system is presented. It allows for unified, intuitive, and coordinated control. Unlike other approaches, the mobile-manipulator system is modelled and controlled as two separate entities rather than as a whole. The algorithm consists of three states. In the first state, a joystick is used to freely control the manipulator’s position and orientation. The second state occurs when the manipulator approaches a singular configuration. This causes the mobile base to proceed in such a way as to keep the end-effector moving in its last direction. This is done through the use of a simple optimization routine. The third state is triggered by the user: once the end-effector is in the desired position, the mobile base and manipulator both move with respect to one another keeping the end-effector stationary and placing the manipulator into an ideal configuration. The proposed algorithm avoids the problems of algorithmic singularities and simplifies the control approach. A preliminary version of the algorithm has been implemented on the Jasper mobile-manipulator system with success.
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