Title :
Performance comparison of various control strategies for a mobile manipulator
Author :
Thompson, Pierre ; Rabatel, Gilles ; Pierrot, François ; Liégeois, Alain ; Sévila, Francis
Author_Institution :
CEMAGREF, Montpellier, France
Abstract :
This paper concerns the performance comparison of different control structures based on various sensors for an agricultural mobile manipulator. The robot´s mobile platform is continuously advancing, pulled by a tractor while the manipulator executes local tasks. Therefore, an existing prototype has been entirely modelled which allowed us to test each control structure using a dynamic simulator. The simulation results permit to identify the best control structure for the given constraints
Keywords :
agriculture; digital simulation; manipulators; agricultural mobile manipulator; control strategies; control structure testing; dynamic simulator; tractor-drawn robot; Agricultural machinery; Control systems; Machine vision; Manipulator dynamics; Mathematical model; Mobile robots; Robot sensing systems; Soil; Testing; Virtual prototyping;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.525927
