Reactive Mobile Manipulation using Dynamic Trajectory Tracking
نویسندگان
چکیده
A solutaon to the trajectory trackang problem for mobale manapulators as proposed that allows for the base to be anfluenced by a reactwe, obstacle avoadance behavaor. Gwen a trajectory for the grapper to follow, a trackang algorathm for the manapulator as desagned, and at the same tame the base motaons are generated an such a way that the base as coordznated wath the grapper. Furthermore, at as shown that the method allows arbatrary upper and lower bounds on the grapper-base dzstance to be set and thas can be achaeved wathout antroducang deadlocks anto the system. The solutaon also ensures that the control effort, spent on slow base motaons, as kept small.
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