Abstract
This work proposes the design of a simultaneous motion and shape control of a redundant mobile manipulator. The method is based on the construction of a variable weighting matrix that allows to control of specific sections of this type of robot composed of a mobile platform and manipulator arm. The weight matrix allows for prioritizing desired parts of the robot through cost functions that depend on an additional variable defined in this work, which can be changed automatically according to some pre-established criteria or by a human operator if the robot is teleoperated. In addition, simulations are included to show the usefulness of the proposal.
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