Motion control is an important part in the field of manipulator research. This chapter first introduces URDF modeling and visualization control of a multi-joint manipulator. ROS provides a fully functional manipulator motion planning package, Movelt, which includes kinematic modeling, operation control, environment perception, and motion planning. Movelt is an easy-to-use integrated development platform. The manipulator is configured using the Movelt configuration assistant. When combined with Gazebo, MoveIt enables visualization simulation with friendly human-computer interaction. The motion control of the manipulator will be presented in three parts: manipulator modeling, Movelt configuration, and Movelt motion planning.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Manipulator Motion Control


    Contributors:
    Peng, Gang (author) / Lam, Tin Lun (author) / Hu, Chunxu (author) / Yao, Yu (author) / Liu, Jintao (author) / Yang, Fan (author)

    Published in:

    Publication date :

    2023-09-05


    Size :

    58 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Coordinated manipulator/spacecraft motion control for space robotic systems

    Papadopoulos, E. / Dubowsky, S. | Tema Archive | 1991


    Coordinated Motion Control of Multiple Manipulator Space Free-Flyers

    Moosavian, S. A. A. / Papadopoulos, E. / American Astronautical Society et al. | British Library Conference Proceedings | 1997



    Motion Control of Underwater Vehicle-Manipulator Systems Using Feedback Linearization

    Schjoelberg, I. / Egeland, O. / International Federation of Automatic Control | British Library Conference Proceedings | 1995