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Study: Non-rigid base of mobile manipulator affects contact tasks
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Zongyuan Zhang et al. use a grinding task as a case study, combining simulation with experiments on two lightweight, non-driven wheeled test platforms to investigate the effect of a non-rigid base on continuous-contact tasks for mobile manipulators. The paper has been accepted to ACRA 2026. When the resistance between the base and the ground is low, a 100 N command achieves only 54–70%, and the tool center point error reaches 100 mm. Increasing the base–ground resistance during contact improves force realization and prevents further tool displacement; under the tested conditions, base vibration and force-tracking error show no consistent relationship.
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- Study: Effects of Non-Rigid Bases on Mobile Manipulators in Sustained Contact Tasks
Using a sanding task as a case study, the paper combines simulation with experiments on two lightweight, unactuated wheeled testbeds to characterize non-rigid base effects in mobile manipulators. Under low base-ground resistance, only 54-70% of a 100 N command was realized, with tool-center-point errors reaching 100 mm; increasing base-ground resistance during contact improved force realization and arrested further tool displacement, while base vibration and force-tracking error showed no consistent relationship under the tested conditions. The study was conducted by Zongyuan Zhang et al. and has been accepted to ACRA 2026.
arXiv cs.RO ·