TY - JOUR
T1 - Modeling and control in task-space of a mobile manipulator with cancellation of factory-installed proportional - Derivative control
AU - Salazar-Silva, Gastón H.
AU - Moreno-Armendáriz, Marco A.
AU - Gallegos, Jaime Álvarez
PY - 2012
Y1 - 2012
N2 - A mobile manipulator is a robotic arm mounted on a mobile robot; a particular example is a manipulator arm on a mobile robot with differential traction. Mobile manipulators have many advantages over stationary manipulator, such as a larger work space than a stationary manipulator could have in practice. This paper shows a systematic approach to modeling mobile manipulators that transforms the problem to the modeling of a stationary manipulator with non-holonomic kinematic constraints on the joints. It is also presented a task-space control that cancels a factory-installed proportional - derivative (PD) control and it uses an estimate of the derivative of the posture kinematic model. Finally, a numerical experiment is presented using this method.
AB - A mobile manipulator is a robotic arm mounted on a mobile robot; a particular example is a manipulator arm on a mobile robot with differential traction. Mobile manipulators have many advantages over stationary manipulator, such as a larger work space than a stationary manipulator could have in practice. This paper shows a systematic approach to modeling mobile manipulators that transforms the problem to the modeling of a stationary manipulator with non-holonomic kinematic constraints on the joints. It is also presented a task-space control that cancels a factory-installed proportional - derivative (PD) control and it uses an estimate of the derivative of the posture kinematic model. Finally, a numerical experiment is presented using this method.
KW - Mobile manipulators
KW - Robot control
KW - Robots kinematics
UR - http://www.scopus.com/inward/record.url?scp=84871384712&partnerID=8YFLogxK
M3 - Artículo
SN - 1405-5546
VL - 16
SP - 409
EP - 419
JO - Computacion y Sistemas
JF - Computacion y Sistemas
IS - 4
ER -