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.


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    Title :

    Time-dependant trajectory generation for tele-operated mobile manipulator


    Contributors:


    Publication date :

    2015-05-01


    Size :

    484663 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English






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