A motion control strategy of mobile manipulator in contact task

This paper proposes a control strategy for a mobile manipulator to avoid singular configuration when the manipulator contacts the unknown object. In this study, the pushing task, which includes three motions: approaching, touching and pushing against the object, is assumed. The proposed method introduces adjustable gain to avoid the singular configuration under the pushing task even if the target object is changed. Numerical and experimental results show the effectiveness of the proposed approach