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In this paper, we propose a unified whole-body control framework forvelocity-controlled mobile collaborative robots which can distribute taskmotion into the arm and mobile base according to specific task requirements byadjusting weighting factors. Our framework focuses on addressing twochallenging issues in whole-body coordination: 1) different dynamiccharacteristics of the mobile base and the arm; 2) avoidance of violating bothsafety and configuration constraints. In addition, our controller involvesCoupling Dynamic Movement Primitives to enable the essential capabilities forcollaboration and interaction applications, such as obstacle avoidance, humanteaching, and compliance control. Based on these, we design an adaptive motionmode for intuitive physical human-robot interaction through adjusting theweighting factors. The proposed controller is in closed-form and thus quitecomputationally efficient. Several typical experiments carried out on a realmobile collaborative robot validate the effectiveness of the proposedcontroller.

Whole-Body Control for Velocity-Controlled Mobile Collaborative Robots Using Coupling Dynamic Movement Primitives