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

Hideaki Tai, Toshiyuki Murakami

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

Recently, the importance of the robots for home, public places and many other places are increasing. In order to realise autonomous work in such dynamic and unknown environment, recognising 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 stabilisation control. The task execution control realises accurate tasks and quick movement. The stabilisation control stabilises the posture of the robot. Combining these two control systems by null space, robots can realise desired motion and stabilisation simultaneously. Experiments were carried out to show the validity of the proposed method.

Original languageEnglish
Pages (from-to)361-381
Number of pages21
JournalInternational Journal of Intelligent Systems Technologies and Applications
Volume8
Issue number1-4
DOIs
Publication statusPublished - 2010

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Keywords

  • mobile manipulator
  • monocular camera
  • null space
  • passive joint estimation
  • redundancy
  • visual servoing

ASJC Scopus subject areas

  • Computer Science(all)

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