Coordinated Motion Control of a Mobile Manipulator
نویسندگان
چکیده
Abstract: The Coordination of the motion planning of the manipulator end point and the mobile base is a crucial task for a mobile robot control. The mobile manipulator is mounted on the mobile platform where the end point of the manipulator is guided to follow an arbitrarily chosen path .The mobile platform may move in such a manner so that the manipulator end may track the arbitrary trajectories. This paper presents a planning and control algorithm for the mobile platform so that the manipulator can track the arbitrary line with minimum error. Simulation studies are given for the verification of the algorithm at the end. The result shows the effectiveness of the motion algorithm.
منابع مشابه
Realtime Coordinated Redundant Motion of a Nonholonomic Mobile Manipulator
In this paper, the problem of coordinated motion control of a nonholonomic mobile platform with a serial manipulator mounted on top of the platform is addressed. The redundancy resolution algorithm bases on a constraint optimization approach, where the non–holonomic behaviour of the platform is modeled into inequality constraints leading to a convex optimization problem.
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملMaximum Allowable Load On Wheeled Mobile Manipulators (RESEARCH NOTE)
This paper develops a computational technique for finding the maximum allowable load of mobile manipulators for a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints a...
متن کاملDynamic Modeling and Construction of a New Two-Wheeled Mobile Manipulator: Self-balancing and Climbing
Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...
متن کامل