We present a control strategy that enables intuitive physical human-robot collaboration with mobile manipulators equipped with an omnidirectional base.
When interacting with a human operator, intuitiveness of operation is a major concern. To this end, we propose a redundancy solution that allows the mobile base to be fixed when working locally and moves only when the robot approaches a set of constraints. These constraints include distance to singular poses, minimum of manipulability and of distance to objects and angular deviation.
The video shows experimental results with a Kuka LWR4 arm mounted on a Neobotix MPO700 mobile base. At all times, we indicate in the video which robot is moving and which constraint is activated.
More details are in the paper:
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