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Vision Based Control Algorithm for a Mobile Manipulator

2011; DAAAM International Vienna; Linguagem: Inglês

10.2507/22nd.daaam.proceedings.223

2304-1382

Levent Çetín, Özgün Başer, Onur Keskin, Erol Uyar,

Robotic Path Planning Algorithms

An autonomous mobile manipulator, a wheeled mobile platform carrying a manipulator arm, with a vision based target acquisition system can be able not only to find and maintain fixation on a moving target but also to manipulate or handle it while the system itself is in motion Using vision based control methodology, two different control types for mobile platform and manipulator is applied.Mobile platform is controlled with a hybrid visual servo controller.. Manipulator motion is controlled via dynamic look and move control strategy, in which actuator references updated instantaneously according to acquired target position.Control of the mobile manipulator is done by task sequencing.A task is separated in to two parts: Results for given control methodology are demonstrated final system succeeds visually controlled positioning tasks, successfully.