A Number of Mobile Manipulator Control for Moving an Object by using Cooperative Control

被引：0
|
作者：
Kim, Deok-Su [1 ]
Kim, Dong-Eon [1 ]
Han, Seong-Ik [1 ]
Lee, Jang-Myung [1 ]
机构：
[1] Pusan Natl Univ, Dept Elect Engn, Busan 609735, South Korea
来源：
PROCEEDINGS OF THE 2016 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB 2016) | 2016年
基金：
新加坡国家研究基金会;
关键词：
Cooperative Control; Kinematics; Mobile Manipulator; Master-Slave;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, we propose a method of cooperative control of a three mobile manipulator for moving an object. These robots go to desired position independently by using encoder data and inverse kinematics and after arriving in the position, they grasp and lift the object. For the carrying operation, the lifting operation is implemented by using the manipulator mounted on the top of the mobile robots cooperatively. In this system, master-slave mode is used for finding each position of robots and for coordinative control among the robots. During the moving operation, a trajectory planning has been kept constantly. The real cooperative carrying motions was implemented to check the possibility of the master-slave mode control based on the mobile manipulator's kinematics.
引用
收藏
页码：312 / 315
页数：4
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