Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional-Derivative Control
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| Format: | Artículo científico |
| Language: | en |
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Instituto Politécnico Nacional
2012
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| _version_ | 1866814359692378112 |
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| author | Gastón H. Salazar-Silva |
| author_facet | Gastón H. Salazar-Silva |
| contents | Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional-Derivative Control Gastón H. Salazar-Silva Marco A. Moreno-Armendáriz Jaime Álvarez Gallegos Computación Robot control robots kinematics mobile manipulators 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. 2012 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61524670004 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.4 Vol.16 |
| format | Artículo científico |
| id | redalyc_61524670004 |
| language | en |
| publishDate | 2012 |
| publisher | Instituto Politécnico Nacional |
| spellingShingle | Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional-Derivative Control Gastón H. Salazar-Silva Computación Robot control robots kinematics mobile manipulators Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional-Derivative Control Gastón H. Salazar-Silva Marco A. Moreno-Armendáriz Jaime Álvarez Gallegos Computación Robot control robots kinematics mobile manipulators 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. 2012 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61524670004 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.4 Vol.16 |
| title | Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional-Derivative Control |
| topic | Computación Robot control robots kinematics mobile manipulators |
| url | https://www.redalyc.org/articulo.oa?id=61524670004 |