Autonomous motion of a mobile manipulator using a combined torque and velocity control

被引：8
|
作者：
Omrcen, D [1 ]
Zlajpah, L [1 ]
Nemec, B [1 ]
机构：
[1] Jozef Stefan Inst, Robot Lab, Ljubljana 1001, Slovenia
来源：
ROBOTICA | 2004年 / 22卷
关键词：
redundant manipulator; autonomous motion; obstacle avoidance; mobile manipulator; velocity and torque control;
D O I：
10.1017/S0263574704000293
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The paper presents an algorithm for real-time motion control of a mobile manipulator in unstructured environments. The mobile manipulator consists of a velocity controlled mobile platform and a torque controlled manipulator. Therefore, a combination of torque and velocity control is used. For the obstacle avoidance two different principles are used: virtual repulsive velocity and action-reaction principle. The proposed control method has been verified on real system, composed of a mobile platform and a four DOFs manipulator arms. The results have been compared to the manipulator with a fixed base.
引用
收藏
页码：623 / 632
页数：10
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