Research on the method and experiment of the coordinated control for wheeled mobile manipulators

Author

Gao, Chunyan ; Zhang, Minglu ; Liu, Ruisu

Author_Institution

Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin

fYear

2008

fDate

1-3 Sept. 2008

Firstpage

2386

Lastpage

2390

Abstract

Mobile manipulators have attracted a lot of interest recently. This paper discusses the development of mobile manipulators in recent years in the aspect of motion planning and coordinated control between mobile platform and manipulator. An intelligent controller based on RBF neural network is introduced for the coordinating control of the mobile manipulator, which mimics human behavior. Simulation results was given out and the method has been applied on the Hebut-II mobile robot platform. Experimental results verified the validity of the method.

Keywords

manipulators; mobile robots; neurocontrollers; path planning; Hebut-II mobile robot platform; RBF neural network; coordinated control; intelligent controller; motion planning; wheeled mobile manipulators; Control systems; Kinematics; Manipulator dynamics; Mechanical systems; Mobile computing; Mobile robots; Motion control; Motion planning; Path planning; Trajectory; coordinated control; kinematics models; mobile manipulator; motion planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on

Conference_Location

Qingdao

Print_ISBN

978-1-4244-2502-0

Electronic_ISBN

978-1-4244-2503-7

Type

conf

DOI

10.1109/ICAL.2008.4636567

Filename

4636567