Open AccessDesign and Test of a Multifunctional Mobile Manipulator Control System on an Experimental Platform
Author(s) -
Ling Chen,
Xiaoyue Xing,
Zhe Li,
Liwu Liu,
Xiaolong Li,
Jie Guo
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1871/1/012101
Subject(s) - grasp , object (grammar) , mobile manipulator , manipulator (device) , computer science , control engineering , control (management) , control system , engineering , simulation , mobile robot , robotic arm , artificial intelligence , robot , electrical engineering , programming language
Mobile manipulators (MMs) performing the tasks of autonomous navigation, object grasp and transportation are widely used in industrial production and other domains. This paper presents a control system with multiple functions and good extendibility for a commonly configured MM, which controls the multi-degrees of freedom (DOF) movement of the MM while navigating, positioning, pose estimating and object grasp. This system has shown desirable control performance on an experimental platform.