Abstract:This paper presents a novel control architecture for kinematic control of the base and the arm of a vehiclemanipulator system during complex mobile manipulation tasks. Particularly, we address kinematic control of robots operating in the presence of constraints such as plane or entry hole constraints imposed on a point on the manipulator arm and an additional focal point constraint imposed on the base. The focal point constraint guarantees that any camera mounted on the base points in the desired direction. We… Show more
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