Title :
Configuration control of rover-mounted manipulators
Author :
Seraji, Homayoun
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
This paper presents a simple online approach for motion control of rover-mounted manipulators. An integrated kinematic model of the rover-plus-manipulator system is derived which incorporates the nonholonomic rover constraint with the end-effector task. The redundancy introduced by the rover mobility is exploited to perform a set of user-specified additional tasks during the end-effector motion. The configuration control approach is utilized to satisfy the nonholonomic rover constraint, while accomplishing the end-effector motion and the redundancy resolution goals simultaneously. This framework allows the user to assign weighting factors to the rover movement and manipulator motion, as well as to each task specification. The computational efficiency of the control scheme makes it particularly suitable for real-time implementation. The proposed method is applied to a planar two-jointed arm mounted on a rover, and computer simulation results are presented for illustration
Keywords :
manipulator kinematics; matrix algebra; mobile robots; motion control; nonlinear control systems; real-time systems; redundancy; configuration control; kinematic model; motion control; nonholonomic rover constraint; planar two-jointed arm; real-time system; redundancy; rover-mounted manipulators; Computer simulation; Equations; Kinematics; Laboratories; Manipulators; Mobile robots; Motion control; Path planning; Propulsion; Wheels;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525598