File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Conference Paper: Integrated sensing and control of mobile manipulators

TitleIntegrated sensing and control of mobile manipulators
Authors
Issue Date2001
Citation
IEEE International Conference on Intelligent Robots and Systems, 2001, v. 2, p. 865-870 How to Cite?
AbstractThe paper proposes an integrated sensing and control framework for autonomous mobile manipulators. First, the mobile manipulator is considered as a redundant robot, while a unified dynamic model for integrated mobile platform and on-board manipulator are developed. Combining the event-based planning and control method with the nonlinear feedback technique, a task level action controller is designed and an online kinematic redundancy resolution scheme is developed. Secondly, force/torque sensor and laser range sensor are used for the mobile manipulator to interact with objects and the environment. A nonholonomic cart pushing task has demonstrated the advantages of the integrated sensing and control approach of a mobile manipulator. The sensing and control approaches are tested on a mobile manipulator consisting of a Nomadic XR4000 and a Puma 560 robot arm.
Persistent Identifierhttp://hdl.handle.net/10722/212736

 

DC FieldValueLanguage
dc.contributor.authorTan, Jindong-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:04:51Z-
dc.date.available2015-07-28T04:04:51Z-
dc.date.issued2001-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2001, v. 2, p. 865-870-
dc.identifier.urihttp://hdl.handle.net/10722/212736-
dc.description.abstractThe paper proposes an integrated sensing and control framework for autonomous mobile manipulators. First, the mobile manipulator is considered as a redundant robot, while a unified dynamic model for integrated mobile platform and on-board manipulator are developed. Combining the event-based planning and control method with the nonlinear feedback technique, a task level action controller is designed and an online kinematic redundancy resolution scheme is developed. Secondly, force/torque sensor and laser range sensor are used for the mobile manipulator to interact with objects and the environment. A nonholonomic cart pushing task has demonstrated the advantages of the integrated sensing and control approach of a mobile manipulator. The sensing and control approaches are tested on a mobile manipulator consisting of a Nomadic XR4000 and a Puma 560 robot arm.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleIntegrated sensing and control of mobile manipulators-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0035558906-
dc.identifier.volume2-
dc.identifier.spage865-
dc.identifier.epage870-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats