Simultaneous control algorithm for mobile manipulator using MMPPE

Abstract

This paper proposes the simultaneous control algorithm using Mobile Manipulator Pre-Pose Estimator (MMPPE). A conventional method is a sequential method in which the manipulator is controlled after the mobile platform moves. However, the proposed method recognizes the target pose in advance and predicts the posture of the manipulator and the mobile robot. It has more time efficiency than conventional sequential control method. By integrating this based on ROS and verify the algorithm using simulation.