Mobile Manipulation in Unknown Environments with Differential Inverse Kinematics Control

Abstract

We present the first controller for quasistatic robotic planar pushing with single-point contact using only force feedback. We consider a mobile robot equipped with a forcetorque sensor to measure the force at the contact point with the pushed object (the "slider"). The parameters of the slider are not known to the controller, nor is feedback on the slider's pose. We assume that the global position of the contact point is always known and that the approximate initial position of the slider is provided. We focus specifically on the case when it is desired to push the slider along a straight line. Simulations and real-world experiments show that our controller yields stable pushes that are robust to a wide range of slider parameters and state perturbations.

End-effector path tracking of a 14 DOF Rover Manipulator System in CG-Space framework

“…Hacot [25] and Seraji [26] have extended the control schemes to mobile manipulators by incorporating redundancy and analyzing wheel-terrain interactions. Various approaches have been proposed to improve the motion accuracy of redundant mobile manipulators, including adaptive multi-objective motion distribution (AMoMDiF by Xing et al [27]) and differential IK control [28] on industrial manipulators (6DOF U 10 ) in a structured flat environment. Tchoń and Jakubiak [29] developed a band-limited repeatable extended Jacobian formulation to solve the IK of a four-wheeled mobile manipulator.…”