Abstract
In this paper, we present a control algorithm for a mechanical system built from a six revolute joint robot manipulator mounted on a nonholonomic mobile platform. We describe a global control of this mechanical system which calculates the joint values for both the robot manipulator and the mobile platform. We want the end-effector location (position+orientation) to evolve between starting and final required locations and to follow a required trajectory. First, we present simulated results to illustrate the efficiency of the control algorithm. Then, the controls are implanted and checked on the real mechanical system.
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© 1998 Springer-Verlag London Limited
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Foulon, G., Fourquet, JY., Renaud, M. (1998). Control of a rover-mounted manipulator. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112957
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DOI: https://doi.org/10.1007/BFb0112957
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