Subsystem control based target tracking for two-wheeled mobile manipulator

Tetsuro Ikeda, Toshiyuki Murakami

Research output: Contribution to conferencePaper

Abstract

To date, robots are expected to work in human environment. However, symbiotic robots need advanced abilities. In this research, we pay attention to "movement ability" and "recognition ability". We chose two-wheeled mobile manipulator with a monocular camera. Therefore, the purpose is to achieve both the target tracking and the attitude stabilization. Firstly, the new visual servoing is proposed in the work space. In addition, some controls are designed in the null space. Experiment was carried out to show the validity of the proposed method.

Original languageEnglish
Pages2157-2162
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

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Keywords

  • Compliance control
  • Redundancy
  • Subsystem
  • Two-wheeled mobile manipulator
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ikeda, T., & Murakami, T. (2009). Subsystem control based target tracking for two-wheeled mobile manipulator. 2157-2162. Paper presented at 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5415363