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1、2009IEEEInternationalConferenceonRoboticsandAutomationKobeInternationalConferenceCenterKobe,Japan,May12-17,2009ControlofMobileManipulatorusingtheDynamicalSystemsApproachLars-PeterEllekildeAbstract—Thecombinationofamobileplatformandamanipulator,knownasam
2、obilemanipulator,providesahighlyflexiblesystem,whichcanbeusedinawiderangeofapplications,especiallywithinthefieldofservicerobotics.Oneofthechallengeswithmobilemanipulatorsistheconstructionofcontrolsystems,enablingtherobottooperatesafelyinpotentiallydynam
3、icenvironments.Inthispaperwewillpresentworkinwhichamobilemanipulatoriscontrolledusingthedynamicalsystemsapproach.Themethodpresentedisatwolevelapproachinwhichcompetitivedynamicsareusedbothfortheoverallcoordinationofthemobileplatformandthemanipulatoraswel
4、lasthelowerlevelfusionofobstacleavoidanceandtargetacquisitionbehaviors.I.INTRODUCTIONThemajorityofroboticresearchhasinthelastdecadesfocusedoneithermobileplatformsormanipulators,andtherehavebeenmanyimpressiveresultswithinbothareas.Todayoneofthenewchallen
5、gesistocombinethetwoareas,intosystems,whicharebothhighlymobileandhavetheabilitytomanipulatetheenvironment.Especiallywithinserviceroboticstherewillbeanincreasedneedforsuchsystems.Thedemographyofmostwesterncountriescausesthenumberofoldpeopleinneedofcareto
6、increase,whiletherewillbelessworkingtoactuallysupportthem.Thisrequiresanincreasedautomationoftheservicesector,forwhichrobotsabletooperatesafelyinindooranddynamicenvironmentsareessential.Fig.1.PlatformconsistingofaSegwayRMP200andaKukaLightWeightRobot.The
7、platformusedinthisworkisshowninFigure1,andconsistofaSegwayRMP200withaKukaLightWeightRobot.Theresultisaplatformthathasarelativesmallfootprintandishighlymaneuverable,makingitwellsuitedformovingaroundinanindoorenvironment.TheKukaLightWeightRobothasafairlyl
8、ongreachandhighpayloadcomparedtoitsownweight,makingitidealformobilemanipulation.Whencontrollingamobilemanipulator,thereisachoiceofwhethertoconsiderthesystemasoneortwoentities.In[1]and[2]theyderiveJacobiansforboththemobileplatform
