A control method of mobile manipulator using virtual impedance wall for human/robot collaboration object transfer task

Most of mobile manipulators have a heavy mobile base for stability. Therefore, the slow dynamics of the mobile base deteriorates the system reaction. Thus, we propose a new approach for removing unnecessary movements of the mobile base. In our proposed method, the mobile base dose not move until the manipulator tip goes over the preferred operating region. The area is surrounded by virtual impedance wall. When the manipulator tip or the mobile base reaches the boundary, the mobile base starts to move by the repulsive force from the virtual wall and recovers the system conditions. Simulation and experiment show the validity of the proposed method.