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Conference Paper: Integrated sensing and control of mobile manipulators
| Title | Integrated sensing and control of mobile manipulators |
|---|---|
| Authors | |
| Issue Date | 2001 |
| Citation | IEEE International Conference on Intelligent Robots and Systems, 2001, v. 2, p. 865-870 How to Cite? |
| Abstract | The 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 Identifier | http://hdl.handle.net/10722/212736 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Tan, Jindong | - |
| dc.contributor.author | Xi, Ning | - |
| dc.date.accessioned | 2015-07-28T04:04:51Z | - |
| dc.date.available | 2015-07-28T04:04:51Z | - |
| dc.date.issued | 2001 | - |
| dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2001, v. 2, p. 865-870 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/212736 | - |
| dc.description.abstract | The 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.language | eng | - |
| dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
| dc.title | Integrated sensing and control of mobile manipulators | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.scopus | eid_2-s2.0-0035558906 | - |
| dc.identifier.volume | 2 | - |
| dc.identifier.spage | 865 | - |
| dc.identifier.epage | 870 | - |