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Robotics 2019, 8(1), 14; https://doi.org/10.3390/robotics8010014

Singularity Avoidance Control of a Non-Holonomic Mobile Manipulator for Intuitive Hand Guidance

1
Joanneum Research, Institute for Robotics and Mechatronics, Lakeside B08a, 9020 Klagenfurt am Wörthersee, Austria
2
Unit Geometry and CAD, University of Innsbruck, 6020 Innsbruck, Austria
*
Author to whom correspondence should be addressed.
This paper is an extended version of our paper published in Weyrer, M.; Brandstötter, M.; Mirkovic, D. Intuitive Hand Guidance of a Force-Controlled Sensitive Mobile Manipulator. In Proceedings of the IFToMM Symposium on Mechanism Design for Robotics, Udine, Italy, 11–13 August 2018.
Received: 20 January 2019 / Revised: 12 February 2019 / Accepted: 14 February 2019 / Published: 19 February 2019
(This article belongs to the Special Issue Mechanism Design for Robotics)
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Abstract

Mobile manipulators are robot systems capable of combining logistics and manipulation tasks. They thus fulfill an important prerequisite for the integration into flexible manufacturing systems. Another essential feature required for modern production facilities is a user-friendly and intuitive human-machine interaction. In this work the goal of code-less programming is addressed and an intuitive and safe approach to physically interact with such robot systems is derived. We present a natural approach for hand guiding a sensitive mobile manipulator in task space using a force torque sensor that is mount close to the end effector. The proposed control structure is capable of handling the kinematic redundancies of the system and avoid singular arm configurations by means of haptic feedback to the user. A detailed analysis of all possible singularities of the UR robot family is given and the functionality of the controller design is shown with laboratory experiments on our mobile manipulator. View Full-Text
Keywords: robot kinematics; robot singularity; singularity analysis; robot control; mobile manipulation; human-robot-interaction; learning by demonstration; compliance control robot kinematics; robot singularity; singularity analysis; robot control; mobile manipulation; human-robot-interaction; learning by demonstration; compliance control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Weyrer, M.; Brandstötter, M.; Husty, M. Singularity Avoidance Control of a Non-Holonomic Mobile Manipulator for Intuitive Hand Guidance. Robotics 2019, 8, 14.

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