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Conference Paper: Coordination of a nonholonomic mobile platform and an on-board manipulator

TitleCoordination of a nonholonomic mobile platform and an on-board manipulator
Authors
Issue Date2014
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2014, p. 4356-4361 How to Cite?
Abstract© 2014 IEEE. Mobile manipulators provide more advantages and flexibility in a wide range of applications than standard manipulators by introducing mobility. However, adding mobile platforms to standard manipulators, especially nonholonomic mobile platforms, introduces new challenges to the system modeling and control. Most existing methods for mobile manipulators do not consider the performance difference between the mobile platform and the manipulator and therefore cannot handle the uncertain and unexpected events happened in both the mobile platform and the manipulator. This paper introduces a planning and control method in a perceptive reference frame for a nonholonomic mobile manipulator to efficiently handle uncertain and unexpected events. The experimental results on a nonholonomic mobile manipulator demonstrate the effectiveness and advantages of the designed method.
Persistent Identifierhttp://hdl.handle.net/10722/213438
ISSN

 

DC FieldValueLanguage
dc.contributor.authorJia, Yunyi-
dc.contributor.authorXi, Ning-
dc.contributor.authorNieves, Erick-
dc.date.accessioned2015-07-28T04:07:17Z-
dc.date.available2015-07-28T04:07:17Z-
dc.date.issued2014-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2014, p. 4356-4361-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/213438-
dc.description.abstract© 2014 IEEE. Mobile manipulators provide more advantages and flexibility in a wide range of applications than standard manipulators by introducing mobility. However, adding mobile platforms to standard manipulators, especially nonholonomic mobile platforms, introduces new challenges to the system modeling and control. Most existing methods for mobile manipulators do not consider the performance difference between the mobile platform and the manipulator and therefore cannot handle the uncertain and unexpected events happened in both the mobile platform and the manipulator. This paper introduces a planning and control method in a perceptive reference frame for a nonholonomic mobile manipulator to efficiently handle uncertain and unexpected events. The experimental results on a nonholonomic mobile manipulator demonstrate the effectiveness and advantages of the designed method.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleCoordination of a nonholonomic mobile platform and an on-board manipulator-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ICRA.2014.6907493-
dc.identifier.scopuseid_2-s2.0-84911476849-
dc.identifier.spage4356-
dc.identifier.epage4361-

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