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Reactive mobile manipulation using dynamic trajectory tracking: design and implementation
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-7714-928X
2000 (English)Conference paper (Refereed)
Abstract [en]

A solution to the trajectory tracking problem for mobile manipulators is proposed and implemented on a real robotic system. Given a trajectory for the gripper to follow, a tracking algorithm for the manipulator is designed, and at the same time the base motions are generated in such a way that the base is coordinated with the gripper while reactively avoiding obstacles. Furthermore, it is shown that the method allows arbitrary upper and lower bounds on the gripper-base distance to be set, and this can be achieved without introducing deadlocks into the system

Place, publisher, year, edition, pages
2000. 3001-3006 p.
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-90563DOI: 10.1109/CDC.2000.914278OAI: diva2:505879
Proceedings of the IEEE Conference on Decision and Control
NR 20140805Available from: 2012-02-26 Created: 2012-02-26Bibliographically approved

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Ögren, Petter
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