Mobile Manipulation with a Kinematically Redundant Manipulator for a Pick-and-Place Scenario

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding


Mobile robots and robotic manipulators have traditionally been used separately performing different types of tasks. For example, industrial robots have typically been programmed to follow trajectories using position sensors. If combining the two types of robots and adding sensors new possibilities emerge. This enables new applications, but it also raises the question of how to combine the sensors and the added kinematic complexity.
An omni-directional mobile robot together with a new type of kinematically redundant manipulator for future use as a service robot for grocery stores is proposed. The scenario is that of distributing groceries on refilling shelves, and a constraint- based task specification methodology to incorporate sensors and geometric uncertainties into the task is employed. Sensor fusion is used to estimate the pose of the mobile base online. Force sensors are utilized to resolve remaining uncertainties. The approach is verified with experiments.


Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering
Original languageEnglish
Title of host publication[Host publication title missing]
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication statusPublished - 2012
Publication categoryResearch
Event2012 IEEE Multi-Conference on Systems and Control - Dubrovnik, Croatia
Duration: 2012 Oct 3 → …

Publication series

ISSN (Print)1085-1992


Conference2012 IEEE Multi-Conference on Systems and Control
Period2012/10/03 → …

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