Subsystem control based target tracking for two-wheeled mobile manipulator

Tetsuro Ikeda, Toshiyuki Murakami

研究成果: Paper

抜粋

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.

元の言語English
ページ2157-2162
ページ数6
DOI
出版物ステータスPublished - 2009 12 1
イベント35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
継続期間: 2009 11 32009 11 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Portugal
Porto
期間09/11/309/11/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • これを引用

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