Title :
Coordinated trajectory following for mobile manipulation
Author :
Egerstedt, Magnus ; Hu, Xiaoming
Author_Institution :
Optimization & Syst. Theory, R. Inst. of Technol., Stockholm, Sweden
Abstract :
A platform independent control approach for mobile manipulation and coordinated trajectory following is proposed and analyzed. Given a path for the gripper to follow, another path is planned for the base in such a way that it is feasible with respect to manipulability. The base and the end-effector then follow their respective reference trajectories according to proven stable, error-feedback control algorithms, while the base is placed in such a way that the end-effector trajectory always is within reach for the manipulator
Keywords :
feedback; manipulator dynamics; manipulator kinematics; motion control; path planning; stability; coordinated trajectory following; error-feedback; kinematics; mobile manipulator; motion control; path planning; stability; Control systems; Error correction; Feedback; Grippers; Mobile robots; Motion control; Orbital robotics; Robot kinematics; Robust control; Tracking;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845268
