Semi-autonomous surface-tracking tasks using omnidirectional mobile manipulators
Carlos Suarez Zapico,Yvan Petillot,Mustafa Suphi Erden,Carlos Suarez Zapico,Yvan Petillot,Mustafa Suphi Erden
Despite the potential of mobile manipulators and applications where robots require a force-controlled physical interaction with the environment, the majority of robot automation nowadays is still based on fixed manipulators for free-motion tasks (e.g. welding, pick and place, or painting). In this work, we propose a control solution for omnidirectional mobile manipulators in force-tracking tasks, ...