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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
This project is supported by the French Ministry of Agriculture (CASDAR project). It has also received the support of the region Auvergne-Rhône-Alpes.
References
Bayle, B., Fourquet, J.Y., Renaud, M.: Manipulability of wheeled mobile manipulators: application to motion generation. Int. J. Robot. Res. 22(7–8), 565–581 (2003)
Bergerman, M., Billingsley, J., Reid, J., Van Henten, E.: Robotics in agriculture and forestry. In: Springer Handbook of Robotics, pp. 1463–1492. Springer (2016)
Brock, O., Park, J., Toussaint, M.: Mobility and manipulation. In: Springer Handbook of Robotics, pp. 1007–1036. Springer (2016)
Chung, J.H., Velinsky, S.A., Hess, R.A.: Interaction control of a redundant mobile manipulator. Int. J. Robot. Res. 17(12), 1302–1309 (1998)
Egerstedt, N., Hu, X.: Coordinated trajectory following for mobile manipulation. In: 2000 IEEE International Conference on Robotics and Automation, Proceedings, ICRA 2000, vol. 4, pp. 3479–3484. IEEE (2000)
Fruchard, M., Morin, P., Samson, C.: A framework for the control of nonholonomic mobile manipulators. Int. J. Robot. Res. 25(8), 745–780 (2006)
Khalil, W., Dombre, E.: Modélisation, identification et commande des robots. Hermès, Paris (1999)
Samson, C., Morin, P., Lenain, R.: Modeling and control of wheeled mobile robots. In: Springer Handbook of Robotics, pp. 1235–1266. Springer (2016)
Yamamoto, Y., Yun, X.: Coordinating locomotion and manipulation of a mobile manipulator. In: 1992 Proceedings of the 31st IEEE Conference on Decision and Control, Tucson, AZ, vol. 3, pp. 2643–2648 (1992). https://doi.org/10.1109/CDC.1992.371337
Yoshikawa, T.: Manipulability of robotic mechanisms. Int. J. Robot. Res. 4(2), 3–9 (1985)
Zhang, Y., Yan, X., Chen, D., Guo, D., Li, W.: QP-based refined manipulability-maximizing scheme for coordinated motion planning and control of physically constrained wheeled mobile redundant manipulators. Nonlinear Dyn. 85(1), 245–261 (2016)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 CISM International Centre for Mechanical Sciences
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/978-3-319-78963-7_30
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-78962-0
Online ISBN: 978-3-319-78963-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)