Mobile manipulators are robots able to accomplish complicated missions, requiring the conjunction of the mobility and the manipulation. This paper is centred on the study of the movement of a single-armed wheeled vehicle. The mobile robot provides mobility to the robotic arm, and adds more degrees of freedom. Manipulation tasks might be, thus, performed in a large workspace. Human can often be replaced by a wirelessly controlled mobile manipulator for fulfilling dangerous and tedious missions. In the context of tele-robotics, an operator is placed in a remote site, and supervises the movement of the robot, or sends orders. The robot executes the movement. This paper proposes the analysis of the movement of a wirelessly controlled mobile manipulator. Time-dependent trajectories are generated and sent to the robot. The feasibility and the performance of a RobuTER/ULM mobile manipulator for achieving the mission are tested. The influence of the sampling time and the control process are discussed.
Time-dependant trajectory generation for tele-operated mobile manipulator
2015-05-01
484663 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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