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

A solution to the trajectory tracking problem for mobile manipulators is proposed, that allows for the base to be influenced by a reactive, obstacle avoidance behavior. 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. 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. The solution also ensures that the control effort, spent on slow base motions, is kept small

Place, publisher, year, edition, pages
2000. 3473-3478 p.
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-90564DOI: 10.1109/ROBOT.2000.845267OAI: oai:DiVA.org:kth-90564DiVA: diva2:505881
Conference
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Note
NR 20140805Available from: 2012-02-26 Created: 2012-02-26Bibliographically approved

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Ögren, Petter

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