Research on target grasping of autonomous mobile operation platform

Author

Song, Haitao ; Zhang, Guoliang ; Jing, Bin ; Pu, Yuan

Author_Institution

Second Artillery Eng. Coll., Xi´´an, China

fYear

2009

fDate

16-19 Aug. 2009

Abstract

In order to extend the application area of robot, by combining the features of the autonomous mobile platform and the flexible operation of manipulator, an autonomous mobile operation platform is built. The platform is composed of an autonomous mobile platform and a manipulator. The general control model is serialization, and the feedback control based on the vision information is used in some parts. The monocular vision is presented for target identification and location, and the precision of information fulfills the needs of grasping operation. Based on the geometrical relations, the inverse kinematics of manipulator is resolved, and the space tracks of joints are planned. The experiment result proves the validity of this platform.

Keywords

feedback; manipulator kinematics; mobile robots; robot vision; autonomous mobile operation platform; feedback control; manipulator inverse kinematics; monocular vision; target grasping; target identification; Automatic control; Cameras; Control systems; Feedback control; Instruments; Man machine systems; Manipulator dynamics; Mobile robots; Robotics and automation; Service robots; agent; autonomous mobile operation platform; manipulator; monocular vision; target grasping;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronic Measurement & Instruments, 2009. ICEMI '09. 9th International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4244-3863-1

Electronic_ISBN

978-1-4244-3864-8

Type

conf

DOI

10.1109/ICEMI.2009.5274726

Filename

5274726