A Control of Two Wheels Driven Redundant Mobile Manipulator Using A Monocular Camera System

The importance of the robots for home, public places and many other places are increasing. In order to realize autonomous work in such dynamic and unknown environment, recognizing external world is required. In addition, robots also have to move quickly and work accurately. In this paper, the control system for a two wheels driven redundant mobile manipulator with a monocular camera as a visual sensor is proposed. Proposed system consists of two control subsystems, task execution and stabilization control. The task execution control realizes accurate tasks and quick movement. The stabilization control stabilizes the posture of the robot. Combining these two control systems by null space, robots can realize desired motion and stabilization simultaneously. Experiments were carried out to show the validity of the proposed method.