Operational space control for the KUKA youBot

Title: Operational space control for the KUKA youBot

Authors: Hans Harte, Marcel Karsten, Peter Lehner and Stefan Steinert

University: Robotics and Biology Laboratory, TU Berlin

Abstract: In mobile manipulation robots perform tasks in their environment by moving their end-effector or tool to specified frames. To perform this necessary skill robots commonly utilize operational space control. Operational space control is a control scheme that moves the robot's end-effector to a desired 6D pose in the scene by controlling all joints of the robot simultaneously. We developed and implemented this essential skill for the KUKA youBot. The operational space control for the KUKA youBot moves the arm and base seamlessly to achieve a task. We successfully tested the operational space control with a visual servoing task in which the youBot positions its mounted rgbd camera in a relative frame to a blue circle feature.

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