A Task-Priority Coordinated Motion Planner Combined with Visual Servo for Mobile Manipulator

Mobile manipulators are increasingly used for material handling in industrial environment. In order to improve efficiency, coordinated motion of the mobile base and manipulator is necessary. However, reasonable motion planning and accurate sensor feedback are required to get the pose of the target object and compensate positioning error of the mobile base. In this paper, we propose a task-priority coordinated motion planner combined with visual...