Integrated kinematic control of mobile-manipulator systems

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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.