Mobile manipulators that combine manipulability and mobility, are increasingly being used for various unstructured application scenarios in the field, e.g. vineyards. Therefore, coordinated motion of the manipulator and mobile base is an essential feature of the overall performance. In this paper, we explore a whole-body coordinated motion controller of a robot which is composed of a 2-DoFs nonholonomic wheeled mobile base with a 7-DoFs manipulator (non-holonomic wheeled mobile manipulator, NWMM). This robotic platform is designed to efficiently undertake complex grapevine pruning automation. In this control framework, a task priority coordinated motion of the NWMM is guaranteed. Tasks with lower priority are projected into the null space of the top-priority tasks so that higher-priority tasks are completed without interruption from lower-priority tasks. The proposed controller was evaluated in a grapevine spur pruning experiment scenario.
Teng, T., Fernandes, M., Gatti, M., Poni, S., Semini, C., Caldwell, D., Chen, F., Whole-body control on non-holonomic mobile manipulation for grapevine winter pruning automation, Selected paper, in 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021, (chn, 03-05 July 2021), Institute of Electrical and Electronics Engineers Inc., Chongqing 2021: 37-42. 10.1109/ICARM52023.2021.9536083 [http://hdl.handle.net/10807/197463]
Whole-body control on non-holonomic mobile manipulation for grapevine winter pruning automation
Teng, Tao;Gatti, Matteo;Poni, Stefano;
2021
Abstract
Mobile manipulators that combine manipulability and mobility, are increasingly being used for various unstructured application scenarios in the field, e.g. vineyards. Therefore, coordinated motion of the manipulator and mobile base is an essential feature of the overall performance. In this paper, we explore a whole-body coordinated motion controller of a robot which is composed of a 2-DoFs nonholonomic wheeled mobile base with a 7-DoFs manipulator (non-holonomic wheeled mobile manipulator, NWMM). This robotic platform is designed to efficiently undertake complex grapevine pruning automation. In this control framework, a task priority coordinated motion of the NWMM is guaranteed. Tasks with lower priority are projected into the null space of the top-priority tasks so that higher-priority tasks are completed without interruption from lower-priority tasks. The proposed controller was evaluated in a grapevine spur pruning experiment scenario.
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