Integrated kinematic control of mobile-manipulator systems

移动机械手是由安装在移动基座上的机械臂（或机械手）组成的系统。这种系统的例子包括安装在遥控车辆（rov）或遥控采矿设备上的机器人手臂。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具有很大的优势。然而，由于这些系统固有的冗余性，这种系统更难以控制。要在空间中定位和定向物体需要6自由度。典型的移动机械手具有超过6自由度，使这些系统的控制成为一个挑战。目前，移动机械手操作人员必须分别控制移动基座及其关联的机器人机械手，这给操作人员执行复杂的任务带来了很大的挑战。本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，提高他们的生产力。具体而言，本研究项目将开发用于移动机械臂集成控制的新的最优运动学控制算法，创建移动机械臂半自主远程操作模式，并开发用于远程操作移动机械臂的触觉设备和虚拟夹具的例程。这些发展将构成先进机器人系统的基础，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，移动操纵系统在社会中发挥着越来越重要的作用。然而，正如在远程操作这些rov时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。该研究项目的成果将有助于开发用于危险材料处理的先进机器人系统；海底勘探、资源开采、建设/维护；地面采矿;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.