Mobile manipulators are known for their superior mobility over manipulators on fixed bases, offering promising applications in smart industry and housekeeping scenarios. The dynamic coupling nature between the mobile base and the manipulator presents challenges for force interactive tasks of the mobile manipulator. However, current strategies often fail to account for this coupling in such scenarios. To address this, this paper presents a dynamic coupling-integrated manipulator model that requires only the manipulator dynamics and the mobile base kinematics, which simplifies the modeling process. In addition, embedding the dynamic model, an extended uncertainty and disturbance estimator (UDE) is proposed for the mobile manipulator, which separately estimates the dynamic coupling terms and other unmodeled uncertainties, incorporating them into the feedforward and feedback control loops, respectively. The proposed approach increases the speed of response of the system and improves the dynamic robot-environment interaction (REI) performance of the mobile manipulator. A series of simulations and experiments of a wall-cleaning task are conducted to verify the effectiveness of the proposed approach. Ablation studies demonstrate that the proposed approach significantly improves the motion/force tracking performance when the mobile base is in dynamic motion.

翻译：移动机械臂因其相较于固定基座机械臂具有更优越的移动性，在智能工业和家政服务场景中展现出广阔的应用前景。移动基座与机械臂之间的动态耦合特性，给移动机械臂的力交互任务带来了挑战。然而，现有策略往往未能充分考虑此类场景中的动态耦合。为此，本文提出了一种动态耦合集成的机械臂模型，该模型仅需机械臂动力学和移动基座运动学，从而简化了建模过程。此外，基于该动态模型，本文为移动机械臂提出了一种扩展不确定性及扰动估计器（UDE），其能够分别估计动态耦合项和其他未建模不确定性，并将它们分别纳入前馈和反馈控制回路。所提方法提高了系统的响应速度，并改善了移动机械臂的动态机器人-环境交互（REI）性能。通过一系列针对墙面清洁任务的仿真和实验，验证了所提方法的有效性。消融研究表明，当移动基座处于动态运动时，所提方法能显著提升运动/力跟踪性能。