TY - JOUR
T1 - A control of two wheels driven redundant mobile manipulator using a monocular camera system
AU - Tai, Hideaki
AU - Murakami, Toshiyuki
PY - 2010/1/1
Y1 - 2010/1/1
N2 - 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.
AB - 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.
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=84925303641&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84925303641&partnerID=8YFLogxK
U2 - 10.1504/IJISTA.2010.030217
DO - 10.1504/IJISTA.2010.030217
M3 - Article
AN - SCOPUS:84925303641
VL - 8
SP - 361
EP - 381
JO - International Journal of Intelligent Systems Technologies and Applications
JF - International Journal of Intelligent Systems Technologies and Applications
SN - 1740-8865
IS - 1-4
ER -