A control of two wheels driven redundant mobile manipulator using a monocular camera system

Hideaki Tai, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, the importance of the robots for home, public places and many other places are increasing. In order to realize autonomous work in such dynamic and unknown environment, recognizing external world is required. In addition, robots also have to move quickly and work accurately. In this paper, the control system for a two wheels driven redundant mobile manipulator with a monocular camera as a visual sensor is proposed. Proposed system consists of two control subsystems, task execution and stabilization control. The task execution control realizes accurate tasks and quick movement. The stabilization control stabilizes the posture of the robot. Combining these two control systems by null space, robots can realize desired motion and stabilization simultaneously. Experiments were carried out to show the validity of the proposed method.

Original languageEnglish
Title of host publication15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
Pages368-373
Number of pages6
DOIs
Publication statusPublished - 2008
Event15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 - Auckland, New Zealand
Duration: 2008 Dec 22008 Dec 4

Other

Other15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
CountryNew Zealand
CityAuckland
Period08/12/208/12/4

Fingerprint

Manipulators
Wheels
Cameras
Robots
Stabilization
Control systems
Sensors
Experiments

Keywords

  • Mobile manipulator
  • Monocular camera
  • Null space
  • Passive joint estimation
  • Redundancy
  • Visual servoing

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Tai, H., & Murakami, T. (2008). A control of two wheels driven redundant mobile manipulator using a monocular camera system. In 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 (pp. 368-373). [4749561] https://doi.org/10.1109/MMVIP.2008.4749561

A control of two wheels driven redundant mobile manipulator using a monocular camera system. / Tai, Hideaki; Murakami, Toshiyuki.

15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08. 2008. p. 368-373 4749561.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tai, H & Murakami, T 2008, A control of two wheels driven redundant mobile manipulator using a monocular camera system. in 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08., 4749561, pp. 368-373, 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08, Auckland, New Zealand, 08/12/2. https://doi.org/10.1109/MMVIP.2008.4749561
Tai H, Murakami T. A control of two wheels driven redundant mobile manipulator using a monocular camera system. In 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08. 2008. p. 368-373. 4749561 https://doi.org/10.1109/MMVIP.2008.4749561
Tai, Hideaki ; Murakami, Toshiyuki. / A control of two wheels driven redundant mobile manipulator using a monocular camera system. 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08. 2008. pp. 368-373
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