DocumentCode
3401761
Title
A hybrid control architecture for mobile manipulation
Author
Petersson, L. ; Egerstedt, M. ; Christensen, H.I.
Author_Institution
R. Inst. of Technol., Stockholm, Sweden
Volume
3
fYear
1999
fDate
1999
Firstpage
1285
Abstract
We present a scheme for mobile manipulation by introducing a mobile manipulation control architecture (MMCA). This architecture is motivated by a need for a systematic control structure for robotic manipulation within a behavior based framework. The control structure enables integration of the manipulator into a behavior based control structure for the platform. Furthermore, our suggested MMCA is designed in such a way that it supports design and performance analysis from both a manipulator dynamics and a hybrid automata perspective
Keywords
Jacobian matrices; automata theory; intelligent control; manipulator dynamics; mobile robots; behavior based framework; hybrid automata; hybrid control architecture; mobile manipulation; performance analysis; systematic control structure; Automatic control; Control systems; Manipulator dynamics; Mobile robots; Orbital robotics; Performance analysis; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location
Kyongju
Print_ISBN
0-7803-5184-3
Type
conf
DOI
10.1109/IROS.1999.811657
Filename
811657
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