Comparison of different control methods for mobile manipulation using standardized tests

摘要

This report gives a short overview about an inspection test taken by two different ways of tele-operating a manipulator. The first type of control is a joystick control which provides two different operation modes:1) joint-by-joint control and 2) controlling the tool center point. This joystick control is commercially available and, thus, tested in various environments and used in real applications like bomb disposal. The second control method is a direct coupling of the human arm and the robot manipulator. Movements of the human arm are used to control the robot's manipulator. This control type is an outcome of a research project and, thus, under development. The advantages and disadvantages of each control method are shown in different tests based on a NIST/ASTM setup.