VIRTUAL TELEOPERATION AND REACTIVE MOTION OF A WHEELED MOBILE MANIPULATOR

The work presented in this paper is devoted to the coordinated control of wheeled mobile manipulators in the particular case where operational trajectory is not planned but generated in real-time during the mission. We present a kinematic control scheme that can be used for operational control and that also gives access to the redundancy of the system. Redundancy as well as set-point filtering and actuators' input scaling are used to take into account all the secondary constraints associated to mobile manipulation mission.