移动机械手
操纵器(设备)
控制理论(社会学)
扭矩
运动控制
运动(物理)
障碍物
并联机械手
计算机科学
工程类
角速度
控制工程
移动机器人
控制(管理)
人工智能
机器人
物理
政治学
法学
热力学
量子力学
作者
Damir Omrčen,Leon Žlajpah,Leon Zcaron,lajpah,Bojan Nemec
出处
期刊:Robotica
[Cambridge University Press]
日期:2004-11-01
卷期号:22 (6): 623-632
被引量:14
标识
DOI:10.1017/s0263574704000293
摘要
The paper presents an algorithm for real-time motion control of a mobile manipulator in unstructured environments. The mobile manipulator consists of a velocity controlled mobile platform and a torque controlled manipulator. Therefore, a combination of torque and velocity control is used. For the obstacle avoidance two different principles are used: virtual repulsive velocity and action-reaction principle. The proposed control method has been verified on real system, composed of a mobile platform and a four DOFs manipulator arms. The results have been compared to the manipulator with a fixed base.
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