Mobile manipulator systems are comprised of a mobile platform with one or more manipulators and are of great interest in a number of applications such as indoor warehouses, mining, construction, forestry etc. We present an approach for computing actuator commands for such systems so that they can follow desired end-effector and platform trajectories without the violation of the nonholonomic constraints of the system in an indoor warehouse environment. We work with the Fetch robot which consists of a 7-DOF manipulator with a differential drive mobile base to validate our method. The major contributions of our project are, writing the dynamics of the system, Trajectory planning for the manipulator and the mobile base, state machine for the pick and place task and the inverse kinematics of the manipulator. Our results indicate that we are able to successfully implement trajectory control on the mobile base and the manipulator of the Fetch robot.

翻译：移动机械臂系统由一个或多个机械臂与移动平台组成，在室内仓库、采矿、建筑、林业等诸多应用中备受关注。本文提出了一种计算此类系统执行器指令的方法，使其能够在室内仓库环境中遵循期望的末端执行器与平台轨迹，同时不违反系统的非完整约束。我们采用Fetch机器人（由配备差动驱动移动底座的7自由度机械臂构成）对该方法进行验证。本项目的主要贡献包括：系统动力学建模、机械臂与移动底座的轨迹规划、用于抓取与放置任务的状态机设计，以及机械臂逆运动学求解。实验结果表明，我们成功实现了对Fetch机器人移动底座和机械臂的轨迹控制。