Mobile Robot Manipulator Control for Interacting with 1-DoF Mechanisms
(2025)Department of Automatic Control
- Abstract
- This study investigates the interaction problem between a differentialdrive mobile manipulator and one-degree-of-freedom (1-DoF) mechanisms. While previous research has focused on stationary robotic platforms, this work puts emphasis on mobile interaction.
Building upon a previously proposed adaptive control strategy for fixed-base manipulators, a holistic control framework is developed to coordinate the motion of the mobile base and the manipulator. The adaptive control strategy is extended to mobile robots, enabling repositioning during interaction to achieve larger door opening angles and avoid collisions. A nonlinear velocity controller is designed to guide the differential-drive mobile base to a suitable position for initiating... (More) - This study investigates the interaction problem between a differentialdrive mobile manipulator and one-degree-of-freedom (1-DoF) mechanisms. While previous research has focused on stationary robotic platforms, this work puts emphasis on mobile interaction.
Building upon a previously proposed adaptive control strategy for fixed-base manipulators, a holistic control framework is developed to coordinate the motion of the mobile base and the manipulator. The adaptive control strategy is extended to mobile robots, enabling repositioning during interaction to achieve larger door opening angles and avoid collisions. A nonlinear velocity controller is designed to guide the differential-drive mobile base to a suitable position for initiating interaction. To achieve simultaneous motion between the mobile base and the manipulator, an extended Jacobian matrix formulation is employed, integrating both forward and inverse kinematics of the base and arm.
To maintain a safe distance between the manipulator and the mobile base, a null-space optimization method is integrated. By modifying the base orientation in accordance with the direction of motion, this method also compensates for the non-holonomic restrictions of differential-drive platforms. Additionally, to improve manipulability and prevent kinematic singularities during the door-opening job, an adaptive damping factor is incorporated. Furthermore, building upon previously recorded motion trajectories, an online estimator is introduced, allowing the robot to learn the rotational axis, the door’s rotation radius, and the expected motion direction.
Simulation and real robot experiments are conducted to evaluate the suggested control framework in a range of door-opening scenarios. The results demonstrate that the proposed framework achieves robust coordination between the mobile base and manipulator, enabling safe and efficient interaction with various 1-DoF mechanisms. The findings confirm the applicability of the approach for real-world mobile manipulation tasks under kinematic uncertainties. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/student-papers/record/9222222
- author
- Liu, Yuyao
- supervisor
- organization
- year
- 2025
- type
- H3 - Professional qualifications (4 Years - )
- subject
- report number
- TFRT-6299
- other publication id
- 0280-5316
- language
- English
- id
- 9222222
- date added to LUP
- 2026-02-12 09:23:18
- date last changed
- 2026-02-12 09:23:18
@misc{9222222,
abstract = {{This study investigates the interaction problem between a differentialdrive mobile manipulator and one-degree-of-freedom (1-DoF) mechanisms. While previous research has focused on stationary robotic platforms, this work puts emphasis on mobile interaction.
Building upon a previously proposed adaptive control strategy for fixed-base manipulators, a holistic control framework is developed to coordinate the motion of the mobile base and the manipulator. The adaptive control strategy is extended to mobile robots, enabling repositioning during interaction to achieve larger door opening angles and avoid collisions. A nonlinear velocity controller is designed to guide the differential-drive mobile base to a suitable position for initiating interaction. To achieve simultaneous motion between the mobile base and the manipulator, an extended Jacobian matrix formulation is employed, integrating both forward and inverse kinematics of the base and arm.
To maintain a safe distance between the manipulator and the mobile base, a null-space optimization method is integrated. By modifying the base orientation in accordance with the direction of motion, this method also compensates for the non-holonomic restrictions of differential-drive platforms. Additionally, to improve manipulability and prevent kinematic singularities during the door-opening job, an adaptive damping factor is incorporated. Furthermore, building upon previously recorded motion trajectories, an online estimator is introduced, allowing the robot to learn the rotational axis, the door’s rotation radius, and the expected motion direction.
Simulation and real robot experiments are conducted to evaluate the suggested control framework in a range of door-opening scenarios. The results demonstrate that the proposed framework achieves robust coordination between the mobile base and manipulator, enabling safe and efficient interaction with various 1-DoF mechanisms. The findings confirm the applicability of the approach for real-world mobile manipulation tasks under kinematic uncertainties.}},
author = {{Liu, Yuyao}},
language = {{eng}},
note = {{Student Paper}},
title = {{Mobile Robot Manipulator Control for Interacting with 1-DoF Mechanisms}},
year = {{2025}},
}