DocumentCode
2039745
Title
Coordinated trajectory following for mobile manipulation
Author
Egerstedt, Magnus ; Hu, Xiaoming
Author_Institution
Optimization & Syst. Theory, R. Inst. of Technol., Stockholm, Sweden
Volume
4
fYear
2000
fDate
2000
Firstpage
3479
Abstract
A platform independent control approach for mobile manipulation and coordinated trajectory following is proposed and analyzed. Given a path for the gripper to follow, another path is planned for the base in such a way that it is feasible with respect to manipulability. The base and the end-effector then follow their respective reference trajectories according to proven stable, error-feedback control algorithms, while the base is placed in such a way that the end-effector trajectory always is within reach for the manipulator
Keywords
feedback; manipulator dynamics; manipulator kinematics; motion control; path planning; stability; coordinated trajectory following; error-feedback; kinematics; mobile manipulator; motion control; path planning; stability; Control systems; Error correction; Feedback; Grippers; Mobile robots; Motion control; Orbital robotics; Robot kinematics; Robust control; Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.845268
Filename
845268
Link To Document