We present the design and implementation of a taskable reactive mobile manipulation system. Contrary to related work, we treat the arm and base degrees of freedom as a holistic structure which greatly improves the speed and fluidity of the resulting motion. At the core of this approach is a robust and reactive motion controller which can achieve a desired end-effector pose while avoiding joint position and velocity limits, and ensuring the mobile manipulator is manoeuvrable throughout the trajectory. This can support sensor-based behaviours such as closed-loop visual grasping. As no planning is involved in our approach, the robot is never stationary thinking about what to do next. We show the versatility of our holistic motion controller by implementing a pick and place system using behaviour trees and demonstrate this task on a 9-degree-of-freedom mobile manipulator. Additionally, we provide an open-source implementation of our motion controller for both non-holonomic and omnidirectional mobile manipulators.

翻译：与相关工作相反,我们把手臂和基本自由度视为一个整体结构,大大提高了由此产生的运动的速度和流动性。这一方法的核心是,一个强大和被动的动作控制器,它能够达到理想的终端效应,同时避免共同定位和速度限制,确保移动操纵器在整个轨道上可操作。这可以支持闭路视觉捕捉等基于传感器的行为。由于我们的方法没有计划,机器人从来不会对下一步做什么进行固定思考。我们用行为树执行一个选取和定位系统来显示我们整体运动控制器的多功能,并在一个9度自由移动操纵器上展示这一任务。此外,我们为非克隆操纵器和超导移动操纵器提供行动控制器的开源执行。