Coordinated Trajectory Following for Mobile Manipulation

(c) 2000 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.Digital Object Identifier : 10.1109/ROBOT.2000.845268A platform independent control approach for mobile manipulation and coordinated trajectory following is proposed and analyzed. Given a path for the gripper to follow, another path is planned for the base in such a way that it is feasible with respect to manipulability. The base and the end-effector then follow their respective reference trajectories according to proven stable, error-feedback control algorithms, while the base is placed in such a way that the end-effector trajectory always is within reach for the manipulator