Open AccessMotion specification algorithms for both platform and arms of a mobile robot for planetary research
Author(s) -
Ilias Nanyageev,
Igor Shardyko,
Igor Dalyaev
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/747/1/012090
Subject(s) - inverse kinematics , redundancy (engineering) , mobile robot , computer science , kinematics , control engineering , motion control , robotic arm , simulation , robot , artificial intelligence , algorithm , engineering , physics , classical mechanics , operating system
This article describes some aspects of the control system design for a four-wheel mobile platform with individual wheel-steering equipped with two redundant robotic arms. The considered control issues include different ways of platform maneuvering as well as a solution of inverse kinematics problem for a redundant arm with an original approach to redundancy resolution depending on operator’s intention.