Motion Planning And Coordinated Control For Mobile Manipulators

Mobile manipulators have attracted a lot of interest recently. This paper discusses the development of mobile manipulators in recent years in the aspect of motion planning, modeling and control and coordination between mobile platform and manipulator. In this paper, quite a few problems in this fiel...

Full description

Saved in:
Bibliographic Details
Main Authors: Chunyan Gao, Minglu Zhang, Lingyu Sun
Format: Conference Proceeding
Language:English
Subjects:
Control systems
coordinated control
Kinematics
Manipulator dynamics
mobile manipulator
Mobile robots
Motion control
Motion planning
Neural networks
Stability
Trajectory
Vehicle dynamics
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Mobile manipulators have attracted a lot of interest recently. This paper discusses the development of mobile manipulators in recent years in the aspect of motion planning, modeling and control and coordination between mobile platform and manipulator. In this paper, quite a few problems in this field were presented and relative solving methods and results were briefly introduced. A hierarchical intelligent controller based on neural network is introduced for the coordinating control of the mobile manipulator, which mimics human behavior. This method has been applied on the Hebut-II mobile robot platform. Results show it can work well. At last, some possible issues for future research are given in conclusion
DOI:10.1109/ICARCV.2006.345182