Mobile manipulator robot and method for using the same

A processor-implemented method for controlling a mobile manipulator robot including an autonomous mobile robot (AMR) and a manipulator robot, the method comprising:

• determining, via the AMR, whether a worker is approaching;
• determining, via the manipulator robot, whether the worker interferes with an operation of the mobile manipulator robot;
• activating a touching mode, in response to the determining of the interference by the worker;
• and
• analyzing a force for a robot operation based on touching to operate at least one of the AMR or the manipulator robot;
• recognizing the worker via the AMR to determine whether the worker is approaching;
• determining, via the manipulator robot, whether the worker collides with the mobile manipulator robot;
• activating a safe mode in response to the collision with the worker;
• analyzing an avoidance direction based on the collision to control at least one of the AMR or the manipulator robot;
• calculating the avoidance direction of the manipulator robot, in response to determining that the worker collides with the manipulator robot;
• controlling the manipulator robot to perform an avoidance operation, in response to the avoidance direction being calculated;
• determining whether the mobile manipulator robot will collide with the worker, based on the avoidance operation of the manipulator robot;
• controlling the AMA and the manipulator robot to simultaneously perform the avoidance operation, in response to the mobile manipulator robot colliding with the worker.

A processor-implemented method for safely controlling a mobile manipulator robot including an autonomous mobile robot (AMR) and a manipulator robot, the method comprising:

• determining, via the AMR, whether a worker is approaching;
• determining, via the manipulator robot, whether the worker collides with the mobile manipulator robot;
• activating a safe mode in response to the collision with the worker;
• and
• analyzing an avoidance direction based on the collision to control at least one of the AMR or the manipulator robot;
• recognizing the worker via the AMR to determine whether the worker is approaching;
• determining, via the manipulator robot, whether the worker collides with the mobile manipulator robot;
• activating a safe mode in response to the collision with the worker;
• analyzing an avoidance direction based on the collision to control at least one of the AMR or the manipulator robot;
• calculating the avoidance direction of the manipulator robot, in response to determining that the worker collides the manipulator robot;
• controlling the manipulator robot to perform an avoidance operation, in response to the avoidance direction being calculated;
• determining whether the mobile manipulator robot will collide with the worker, based on the avoidance operation of the manipulator robot;
• and
• controlling the AMA and the manipulator robot to simultaneously perform the avoidance operation, in response to the mobile manipulator robot colliding with the worker.