DocumentCode :
3454486
Title :
Motion control of mobile manipulators
Author :
Seraji, Homayoun
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Volume :
3
fYear :
1993
fDate :
26-30 Jul 1993
Firstpage :
2056
Abstract :
Presents a simple and computationally efficient approach of online coordinated control of mobile robots consisting of a manipulator arm mounted on a mobile base. The effect of base mobility on the end-effector manipulability index is discussed. The base mobility and arm manipulation degrees of freedom are treated equally as the joints of a kinematically redundant composite robot. The redundancy introduced by the mobile base is exploited to satisfy a set of user-defined additional tasks during the end-effector motion. A simple online control scheme is proposed which allows the user to assign weighting factors to individual degrees-of-mobility and degrees-of-manipulation, as well as to each task specification. The computational efficiency of the control algorithm makes it particularly suitable for real-time implementations. A computer simulation study is presented for a spatial three-jointed manipulator mounted on a one-DOF mobile platform, and demonstrates the online coordination of mobility and manipulation
Keywords :
mobile robots; arm manipulation degrees of freedom; base mobility; computational efficiency; computer simulation; degrees-of-manipulation; degrees-of-mobility; end-effector manipulability index; joints; kinematically redundant composite robot; mobile manipulator motion control; mobile platform; mobile robots; online coordinated control; real-time implementations; spatial three-jointed manipulator; task specification; user-defined additional tasks; weighting factors; Cost function; Manipulator dynamics; Mobile computing; Mobile robots; Motion control; Orbital robotics; Payloads; Propulsion; Robot control; Robot kinematics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
Type :
conf
DOI :
10.1109/IROS.1993.583914
Filename :
583914
Link To Document :
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