Title :
Reactive control for mobile manipulation
Author :
Cameron, Jonathan M. ; MacKenzie, Douglas C. ; Ward, Keith R. ; Arkin, Ronald C. ; Book, Wayne J.
Author_Institution :
Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
Research for executing large-scale motions of mobile manipulators is described. Mobile manipulators are mobile bases with an attached arm which function in an integrated manner. Motivation is given for moving the arm while the base is moving. This paper applies reactive control concepts to achieve this type of motion. Tools for modeling integrated arm-vehicle kinematics and dynamics are discussed. Kinematics- and dynamics-based concepts are combined with reactive control approaches in order to move toward a practical level of complexity and performance. Simulation results are presented
Keywords :
control system analysis; dynamics; kinematics; manipulators; position control; arm-vehicle kinematics; dynamics; large scale motion control; mobile manipulators; modeling; reactive control; Books; Control systems; Educational institutions; Manipulator dynamics; Material storage; Materials handling; Mechanical engineering; Mobile robots; Robot sensing systems; Vehicles;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292181
