Trajectory generation for mobile manipulators using a learning method

Author

Abdessemed, Foudil

Author_Institution

Univ. de Batna, Batna

fYear

2007

fDate

27-29 June 2007

Firstpage

1

Lastpage

6

Abstract

In this paper, the generalized trajectory of a mobile manipulator is obtained. The objective is to allow the end-effector track a given trajectory in a fixed world frame. The motion of the platform and that of the manipulator are coordinated by a pseudo neural network designed from the kinematics model of the system. A learning paradigm is used to produce the required reference variables for each of the mobile platform and the robot manipulator for an overall coordinate behavior. Simulation results are presented to show the effectiveness of the proposed scheme.

Keywords

end effectors; learning (artificial intelligence); manipulator kinematics; mobile robots; motion control; neural nets; path planning; position control; tracking; end-effector; learning method; mobile manipulator kinematics; motion control; path planning; pseudoneural network; trajectory generation; trajectory tracking; End effectors; Learning systems; Manipulator dynamics; Mobile robots; Motion control; Motion planning; Neural networks; Orbital robotics; Robot kinematics; Trajectory; Coordination; Mobile Manipulator; Pseudo neural-network; learning rule;

fLanguage

English

Publisher

ieee

Conference_Titel

Control & Automation, 2007. MED '07. Mediterranean Conference on

Conference_Location

Athens

Print_ISBN

978-1-4244-1282-2

Electronic_ISBN

978-1-4244-1282-2

Type

conf

DOI

10.1109/MED.2007.4433659

Filename

4433659