公开(公告)号：US20180001479A1

公开(公告)日：2018-01-04

申请号：US15547478

申请日：2016-02-01

Applicant: AGENCY FOR SCIENCE, TECHNOLOGY AND RESEARCH

Inventor： Renjun LI ,  Boon Hwa TAN ,  Zhiyong HUANG ,  Wei Yun YAU

IPC: B25J9/16 ,  B25J13/08 ,  B25J5/00

CPC classification number: B25J9/1692 ,  B25J5/007 ,  B25J9/16 ,  B25J9/1684 ,  B25J13/089 ,  G05B2219/36415 ,  G05B2219/40298

Abstract: There is provided a method of controlling a mobile manipulator for tracking a surface. The mobile manipulator includes a mobile base movable in an axial direction of the mobile manipulator and a manipulator supported on the mobile base having an end effector adjustable in a lateral direction of the mobile manipulator. The method includes detecting the surface from the mobile manipulator, including positions of the surface at points along the surface, determining a reference path for the end effector to track based on an offset from the surface detected, determining a tracking error in the reference path determined, and adjusting a position of the end effector in the lateral direction based on the tracking error to compensate for the tracking error in the reference path determined. There is also provided a corresponding mobile manipulator.