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Interactive force control of an operator-mobile manipulator coordination system

In this article, a new type of coordination control called interactive force control is developed for an operator–mobile manipulator coordination system (OMMCS) based on a base force/torque sensor. In the interactive force control scheme, a robust force control of the manipulator and impedance control of the mobile platform are integrated to achieve smooth interaction between the operator, the manipulator, and the mobile platform. In simulation, the developed methods are compared for control performance in tracking and force regulation. Simulation results show the promise of the developed control scheme, which utilizes robust force control based on a base force/torque sensor. © 2002 Wiley Periodicals, Inc.