Title :
Control system of a mobile robot manipulator
Author :
Kot, Tomas ; Krys, V. ; Mostyn, Vladimir ; Novak, Petr
Author_Institution :
Dept. of Robot., VSB-Tech. Univ. of Ostrava, Ostrava, Czech Republic
Abstract :
The paper presents a practical implementation of a complex control system of a manipulator arm mounted on a mobile robot, controlled remotely by a human operator. Described is the mechanical construction and parameters of the manipulator, the overall structure of the control system and then in more detail also several software modules which were designed to aid the operator - including inverse kinematics and an anti-collision system. The control system is universal and has already been applied to several types of mobile manipulators.
Keywords :
collision avoidance; control engineering computing; large-scale systems; manipulator kinematics; manipulators; mobile robots; telerobotics; anticollision system; complex control system; control system structure; human operator; inverse kinematics; manipulator arm; manipulator parameters; mechanical construction; mobile robot manipulator; remote control; software modules; universal control system; Cameras; Collision avoidance; Joints; Manipulators; Robot sensing systems; control system; manipulator; operator; robot;
Conference_Titel :
Control Conference (ICCC), 2014 15th International Carpathian
Conference_Location :
Velke Karlovice
Print_ISBN :
978-1-4799-3527-7
DOI :
10.1109/CarpathianCC.2014.6843608
