Title :
A hybrid control architecture for mobile manipulation
Author :
Petersson, L. ; Egerstedt, M. ; Christensen, H.I.
Author_Institution :
R. Inst. of Technol., Stockholm, Sweden
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;
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
DOI :
10.1109/IROS.1999.811657
