Integrated kinematic control of mobile-manipulator systems

移动机械手是由安装在移动底座上的机械臂(或机械手)组成的系统。这类系统的例子包括安装在遥控运载工具(ROV)或遥控采矿设备上的机械臂。与固定安装的机械臂相比，这种系统在工作空间和可操作性方面提供了巨大的优势。然而，由于这些系统固有的冗余性，这些系统更难控制。要在空间中定位和定向对象，需要6个自由度(自由度)。典型的移动机械手有6个以上的自由度，这使得这些系统的控制成为一个挑战。目前，移动机械臂操作员必须分别控制移动基座和与其关联的机器人操作手，这使得操作员执行复杂的任务非常具有挑战性。这项研究计划的目的是为移动机械手操作员开发各种辅助工具，使他们的工作更直观，要求更低，从而使操作员能够执行更复杂的任务，并提高他们的生产率。具体地说，该研究计划将为移动机械手的集成控制开发新的最优运动学控制算法，为移动机械手创造一种半自主的遥操作模式，并将为遥操作移动机械手开发使用触觉设备和虚拟夹具的例程。这些发展将为先进的机器人系统奠定基础，使现实世界的用户能够以用户友好的方式操作这些系统。正如最近墨西哥湾漏油事件所证明的那样，移动机械手系统正在对社会发挥越来越重要的作用。然而，正如在遥远深处遥控这些遥控潜水器所遇到的困难所证明的那样，有机会改进操作移动机械手系统的方法。这项研究计划的成果将有助于开发先进的机器人系统，用于危险材料处理、海底勘探、资源开采和建筑/维护、陆地采矿、制造和安全。

A mobile manipulator is a system comprised of a robot arm (or manipulator) mounted on a mobile base. Examples of such systems include robot arms mounted on Remotely-Operated Vehicles (ROVs) or remotely operated mining equipment. Such systems offer great advantages in terms of workspace and manipulability compared to fix-mounted robot arms. However, such systems are more difficult to control due to the inherent redundancy of these systems. To position and orient an object in space requires 6-DOF (degrees-of-freedom). Typical mobile manipulators have more than 6-DOF making the control of these systems a challenge. At present, mobile manipulator operators must control both the mobile base and its associated robot manipulator separately, which makes it very challenging for the operator to perform intricate tasks. The objective of this research program is to develop a variety of aids for mobile-manipulator operators to make their jobs more intuitive and less demanding, thus enabling the operators to perform more complex tasks and increase their productivity. Specifically, this research program will develop new optimal kinematic control algorithms for the integrated control of mobile manipulators, create a semi-autonomous tele-operating mode for mobile manipulators, and will develop routines for using haptic devices and virtual fixtures for tele-operating mobile manipulators. These developments will form the basis for advanced robotic systems which will enable real-world users to operate these systems in a user-friendly manner. As the recent oil leak in the Gulf of Mexico has proven, mobile-manipulator systems are playing an increasingly vital role to society. However, as was demonstrated by the difficulties encountered in tele-operating these ROVs at remote depths, there is an opportunity for improved methods of operating mobile-manipulator systems. The results of this research program will contribute to the development of advanced robotic systems for hazardous material handling; undersea exploration, resource extraction, and construction/maintenance; terrestrial mining; manufacturing; and security.