Reactive control for mobile manipulation

Research for executing large-scale motions of mobile manipulators is described. Mobile manipulators are mobile bases with an attached arm which function in an integrated manner. Motivation is given for moving the arm while the base is moving. This paper applies reactive control concepts to achieve this type of motion. Tools for modeling integrated arm-vehicle kinematics and dynamics are discussed. Kinematics- and dynamics-based concepts are combined with reactive control approaches in order to move toward a practical level of complexity and performance. Simulation results are presented.<
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