Paper Info
Title
Autonomous motion of a mobile manipulator using a combined torque and velocity control
Abstract
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.
Year
DOI
Venue
2004
10.1017/S0263574704000293
Robotica
Keywords
DocType
Volume
mobile manipulator,mobile platform,DOFs manipulator arm,proposed control method,real-time motion control,velocity control,virtual repulsive velocity,action-reaction principle,different principle,fixed base,autonomous motion,combined torque
Journal
22
Issue
ISSN
Citations 
6
0263-5747
6
PageRank 
References 
Authors
0.67
6
3
Name
Order
Citations
PageRank
Damir Omrcen1574.64
Leon Zlajpah210016.58
Bojan Nemec334530.28