A Framework for Mobile Manipulation
Lars Petersson, Henrik I. Christensen · 1999
Abstract. In this article we present a proposal for a control architecture suitable for mobile manipulation. The approach attempts to combine existing techniques for navigation and mobility with a flexible control system for the manipulator arm, hence a behavior-based system for controlling the platform is integrated with a hybrid dynamic system for the manipulator control. An analysis is made of the system characteristics, motivating these choices. The objective is to have a system level design where all aspects can be included as a natural part, e.g. mission planning, task analysis, path planning, control and integration. Also, using a hybrid dynamic systems paradigm, methods exist for stability, controllability and observability analysis. A language for specification of hybrid automata is developed to support a structured design. 1