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

页码：623 / 632

页数：10

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