Configuration control of rover-mounted manipulators
Configuration control of rover-mounted manipulators
复制标题
流动站机械手的配置控制
DOI：
10.1109/robot.1995.525598
复制
发表时间：
1995
期刊：
影响因子：
--
通讯作者：
H. Seraji
中科院分区：
文献类型：
--
作者：
H. Seraji
本文提出了一种简单的在线方法，用于移动机器人的运动控制。将非完整约束与末端执行器任务相结合，建立了机器人加机械手系统的综合运动学模型。由漫游移动性引入的冗余被利用来执行一组用户指定的附加任务，在末端执行器运动。构型控制方法用于满足非完整约束，同时实现末端执行器运动和冗余解决方案的目标。该框架允许用户将加权因子分配给漫游器移动和操纵器运动，以及每个任务规范。控制方案的计算效率使其特别适合于实时实现。所提出的方法应用于一个平面的两关节臂安装在一个漫游车，计算机仿真结果进行说明。
This paper presents a simple online approach for motion control of rover-mounted manipulators. An integrated kinematic model of the rover-plus-manipulator system is derived which incorporates the nonholonomic rover constraint with the end-effector task. The redundancy introduced by the rover mobility is exploited to perform a set of user-specified additional tasks during the end-effector motion. The configuration control approach is utilized to satisfy the nonholonomic rover constraint, while accomplishing the end-effector motion and the redundancy resolution goals simultaneously. This framework allows the user to assign weighting factors to the rover movement and manipulator motion, as well as to each task specification. The computational efficiency of the control scheme makes it particularly suitable for real-time implementation. The proposed method is applied to a planar two-jointed arm mounted on a rover, and computer simulation results are presented for illustration.