TY - GEN
T1 - A control of two wheels driven redundant mobile manipulator using a monocular camera system
AU - Tai, Hideaki
AU - Murakami, Toshiyuki
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
KW - Mobile manipulator
KW - Monocular camera
KW - Null space
KW - Passive joint estimation
KW - Redundancy
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=61949441180&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=61949441180&partnerID=8YFLogxK
U2 - 10.1109/MMVIP.2008.4749561
DO - 10.1109/MMVIP.2008.4749561
M3 - Conference contribution
AN - SCOPUS:61949441180
SN - 9780473135324
T3 - 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
SP - 368
EP - 373
BT - 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
T2 - 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
Y2 - 2 December 2008 through 4 December 2008
ER -