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In this paper, we address efficiently and robustly collecting objects storedin different trays using a mobile manipulator. A resolution complete method,based on precomputed reachability database, is proposed to explorecollision-free inverse kinematics (IK) solutions and then a resolution completeset of feasible base positions can be determined. This method approximates aset of representative IK solutions that are especially helpful when solving IKand checking collision are treated separately. For real world applications, wetake into account the base positioning uncertainty and plan a sequence of basepositions that reduce the number of necessary base movements for collecting thetarget objects, the base sequence is robust in that the mobile manipulator isable to complete the part-supply task even there is certain deviation from theplanned base positions. Our experiments demonstrate both the efficiencycompared to regular base sequence and the feasibility in real worldapplications.

Planning an Efficient and Robust Base Sequence for a Mobile Manipulator Performing Multiple Pick-and-place Tasks