Title :
Trajectory generation for mobile manipulators using a learning method
Author :
Abdessemed, Foudil
Author_Institution :
Univ. de Batna, Batna
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;
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
DOI :
10.1109/MED.2007.4433659
