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

Hideaki Tai, Toshiyuki Murakami

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
ページ368-373
ページ数6
DOI
出版ステータスPublished - 2008
イベント15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 - Auckland, New Zealand
継続期間: 2008 12月 22008 12月 4

出版物シリーズ

名前15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08

Other

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

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識
  • 制御およびシステム工学
  • 電子工学および電気工学
  • 機械工学

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