A Modular Hierarchical Control Scheme for Mobile Manipulation

  • Kelvin GongEmail author
  • Allan I. McInnes
Part of the Studies in Computational Intelligence book series (SCI, volume 480)


The addition of a mobile base to a robotic manipulator greatly extends the workspace of the manipulator, but introduces complex control problems involving coordination of base and manipulator motion. We describe a modular, hierarchical control scheme for a mobile manipulator, designed to coordinate motion of the manipulator and base to maintain various performance metrics. We demonstrate the effectiveness of our control scheme by developing a controller that maintains the stability and manipulability of a nonholonomic base with a 6 degree-of-freedom manipulator while executing manipulation tasks. We demonstrate the modularity of our control scheme by showing how the controller can be extended to avoid obstacles without requiring redesign of the rest of the controller. Simulation results show the controller completing a task involving multiple end-effector targets, avoiding simple obstacles, and maintaining stability and manipulability within desired limits.


Target Position Controller Design Target Point Obstacle Avoidance Mobile Manipulator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


  1. 1.
    B. Bayle, J.Y. Fourquet, M. Renaud, in A Coordination Strategy for Mobile Manipulation. Proceedings of the international conference on intelligent autonomous systems (IAS 2000) (2000), pp. 981–988Google Scholar
  2. 2.
    M. Fruchard, P. Morin, C. Samson, A framework for the control of nonholonomic mobile manipulators. Int. J. Robot. Res. 25, 745–780 (2006). doi: 10.1177/0278364906068374 CrossRefGoogle Scholar
  3. 3.
    Y. Yamamoto, X. Yun, Coordinating locomotion and manipulation of a mobile manipulator. IEEE Trans. Autom. Control 39(6) (1995)Google Scholar
  4. 4.
    P. Corke, B. Armstrong-Hélouvry, A meta-study of PUMA 560 dynamics: A critical appraisal of literature data. Robotica 13(3) (1995)Google Scholar
  5. 5.
    P. Corke, Robotics toolbox for Matlab (2008). Website,
  6. 6.
    T. Yoshikawa, Foundations of robotics: Analysis and control (MIT Press, Cambridge, 1990)Google Scholar
  7. 7.
    R.C. Arkin, Behavior-Based Robotics (MIT Press, Cambridge, MA, 1998)Google Scholar
  8. 8.
    MathWorks, Simulink (2011). Website,
  9. 9.
    H. Seraji, in An On-line Approach to Coordinated Mobility and Manipulation. Proceedings of the IEEE international conference on robotics and automation (ICRA ’93) (1993), pp. 28–35Google Scholar
  10. 10.
    Q. Huang, K. Tanie, S. Sugano, Coordinated motion planning for a mobile manipulator considering stability and manipulation. Int. J. Robot. Res. (2000)Google Scholar
  11. 11.
    K. Iagnemma, A. Rzepniewskia, S. Dubowskya, T. Huntsbergerb, P. Schenker, in Mobile Robot Kinematic Reconfigurability for Rough-terrain. Proceedings of SPIE symposium on sensor fusion and decentralized control in robotic systems (2000)Google Scholar
  12. 12.
    B. Hamner, S. Koterba, J. Shi, R. Simmons, S. Singh, An autonomous mobile manipulator for assembly tasks. Auton. Robots 28(1) (2010)Google Scholar
  13. 13.
    Y. Chen, L. Liu, M. Zhang, H. Rong, in Study on Coordinated Control and Hardware System of a Mobile Manipulator. Proceedings of the 6th World Congress on intelligent control and automation (2006)Google Scholar
  14. 14.
    E. Gat, On three-layer architectures, in Artificial Intelligence and Mobile Robots (MIT Press, Cambridge, 1998)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Electrical and Computer EngineeringUniversity of CanterburyChristchurchNew Zealand

Personalised recommendations