In this paper, we present the hardware and software architectures of an experimental real time control system of a mobile manipulator that performs tasks of manipulating objects in an environment of a large space. The mechanical architecture is a manipulator arm mounted on a mobile platform. In this work we show how one can implement an imbedded system, which includes the hardware and the software. The system makes use of a PC as the host and constitutes the high level layer. It is configured in such a way that it performs all the input-output interface operations; and is composed of different modules that constitute the software making up the required operations to be executed in a scheduling manner in order to meet the requirements of the real time control. In this paper, we also focus on the development of the generalized trajectory generation for the case of tasks where only one subsystem is considered to move and when the whole system is in permanent movement to achieve a particular task either in a free environment, or in presence of obstacles.


    Access

    Download


    Export, share and cite



    Title :

    Software and Hardware Developments For a Mobile Manipulator Control


    Contributors:

    Publication date :

    2008-12-01


    Remarks:

    doi:10.24200/tjer.vol5iss1pp37-46
    The Journal of Engineering Research [TJER]; Vol 5, No 1 (2008); 37-46 ; 1726-6742 ; 1726-6009



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Mobile manipulator

    OKADA TOMOHIRO / KATAGI TEISUKE | European Patent Office | 2025

    Free access

    Tracking Control of Nonholonomic Mobile Manipulator

    Dong, W.-j. / Xu, W.-l. | British Library Online Contents | 2001


    MOBILE LARGE MANIPULATOR

    SACKEN CHRISTOPH / OLEKSYUK MYKOLA / KARRIE JÖRG-PETER et al. | European Patent Office | 2019

    Free access

    Mobile Remote Manipulator

    Coryell, S. / Olsen, R. E. | NTRS | 1986


    MOBILE LARGE MANIPULATOR

    VIERKOTTEN REINER / SCHNITTKER JOSEPH | European Patent Office | 2017

    Free access