Uploaded May 2018 | Updated September 2026, 2 weeks ago
ICRA 2018 Spotlight Video
Interactive Session Tue AM Pod M.6
Authors: Mashali, Mustafa; Wu, Lei; Alqasemi, Redwan; Dubey, Rajiv
Title: Controlling a Non-Holonomic Mobile Manipulator in a Constrained Floor Space
Abstract:
In this work, we propose a straightforward control method that provides sufficient freedom to the end-effector to complete a task that is bound by time-dependent constraints. This is achieved by relaxing the time constraints on the mobile base trajectory in a floor space obstructed by obstacles. The trajectory of the platform is determined by sensor-assisted obstacle avoidance algorithm such that a single degree of freedom mobility can be represented through a safe obstaclefree time-independent path. The proposed control method is implemented in simulation and on physical hardware built in our labs. The simulation included a 5-DoF redundant Planar Mobile Manipulator (PMM). The hardware implementation and testing utilized a 9-DoF redundant mobile manipulator. The implementation results demonstrate the effectiveness of the control method in adjusting the mobile platform motion along its allowed obstacle-free path to enable the end-effector to follow its trajectory for task completion that would otherwise fail to complete when conventional control methods are used.
ICRA 2018 Spotlight Video
Interactive Session Tue AM Pod M.6
Authors: Mashali, Mustafa; Wu, Lei; Alqasemi, Redwan; Dubey, Rajiv
Title: Controlling a Non-Holonomic Mobile Manipulator in a Constrained Floor Space
Abstract:
In this work, we propose a straightforward control method that provides sufficient freedom to the end-effector to complete a task that is bound by time-dependent constraints. This is achieved by relaxing the time constraints on the mobile base trajectory in a floor space obstructed by obstacles. The trajectory of the platform is determined by sensor-assisted obstacle avoidance algorithm such that a single degree of freedom mobility can be represented through a safe obstaclefree time-independent path. The proposed control method is implemented in simulation and on physical hardware built in our labs. The simulation included a 5-DoF redundant Planar Mobile Manipulator (PMM). The hardware implementation and testing utilized a 9-DoF redundant mobile manipulator. The implementation results demonstrate the effectiveness of the control method in adjusting the mobile platform motion along its allowed obstacle-free path to enable the end-effector to follow its trajectory for task completion that would otherwise fail to complete when conventional control methods are used.
