Interactive Force Control of an Operator-Mobile Manipulator Coordination System

摘要

In this article, a new type of coordination control called interactive force control is developed for an operator-mobile manipulator coordination system (OMMCS) based on a base force/torque sensor. In the interactive force control scheme, a robust force control of the manipulator and impedance control of the mobile platform are integrated to achieve smooth interaction between the operator, the manipulator, and the mobile platform/In simulation, the developed methods are compared for control performance in tracking and force regulation. Simulation results show the promise of the developed control scheme, which utilizes robust force control based on a base force/torque sensor.