Title :
Research on the method and experiment of the coordinated control for wheeled mobile manipulators
Author :
Gao, Chunyan ; Zhang, Minglu ; Liu, Ruisu
Author_Institution :
Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin
Abstract :
Mobile manipulators have attracted a lot of interest recently. This paper discusses the development of mobile manipulators in recent years in the aspect of motion planning and coordinated control between mobile platform and manipulator. An intelligent controller based on RBF neural network is introduced for the coordinating control of the mobile manipulator, which mimics human behavior. Simulation results was given out and the method has been applied on the Hebut-II mobile robot platform. Experimental results verified the validity of the method.
Keywords :
manipulators; mobile robots; neurocontrollers; path planning; Hebut-II mobile robot platform; RBF neural network; coordinated control; intelligent controller; motion planning; wheeled mobile manipulators; Control systems; Kinematics; Manipulator dynamics; Mechanical systems; Mobile computing; Mobile robots; Motion control; Motion planning; Path planning; Trajectory; coordinated control; kinematics models; mobile manipulator; motion planning;
Conference_Titel :
Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-4244-2502-0
Electronic_ISBN :
978-1-4244-2503-7
DOI :
10.1109/ICAL.2008.4636567
