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velocity and torque control

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Autonomous motion of a mobile manipulator using a combined torque and velocity control
Damir Omrčen, Leon Žlajpah, Bojan Nemec
Journal:

Robotica / Volume 22 / Issue 6 / November 2004

Published online by Cambridge University Press:

15 November 2004, pp. 623-632
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The paper presents an algorithm for real-time motion control of a mobile manipulator in unstructured environments. The mobile manipulator consists of a velocity controlled mobile platform and a torque controlled manipulator. Therefore, a combination of torque and velocity control is used. For the obstacle avoidance two different principles are used: virtual repulsive velocity and action-reaction principle. The proposed control method has been verified on real system, composed of a mobile platform and a four DOFs manipulator arms. The results have been compared to the manipulator with a fixed base.