Predictive motion synchronization for two arm dynamic mobile manipulation

Manipulating in a closed kinematic chain results in forces and torques to the grasped object if the manipulator is not synchronized to the mobile platform. This paper presents a novel algorithm for dynamic manipulation on mobile platforms. A predictive algorithm synchronize robotic manipulators with a mobile platform. This is necessary when the manipulator or the mobile platform have huge dead-times. With the synchronization of the components the dynamics can be minimized to avoid any damage in the closed kinematic chain. With this novel approach for mobile manipulation precise tasks can be executed in large environments or while moving the platform. To synchronize the system the dead-times of the manipulator and the mobile platform have to be analyzed. The predictive algorithm is evaluated against an adaptive algorithm without dead-time knowledge. As hardware setup two LBR 4 are mounted on a KUKA Omnirob with Mercanum drives. The results are presented and discussed for the simulation and the real experiments.