Abstract
The aim of this paper is to define a weighting function to achieve a coordinated control of both parts of a mobile manipulator. The function presented here depends on the desired location of the end-effector with respect to the workspace of the robotic arm. The objective is to optimize the workspace of the manipulator, such that phenotyping can be executed without further motion of the mobile base. Experimental results are presented, carried out on a system composed of a 6-dof robotic arm and a gantry.
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Notes
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This project is supported by the French Ministry of Agriculture (CASDAR project). It has also received the support of the region Auvergne-Rhône-Alpes.
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© 2019 CISM International Centre for Mechanical Sciences
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Dubos, C., Lenain, R., Cointault, F., Bouton, N. (2019). Motion Coordination of a Mobile Manipulator Within Control Framework: Application to Phenotyping. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_30
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DOI: https://doi.org/10.1007/978-3-319-78963-7_30
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