基于MMPPE的移动机械臂同步控制算法

2021 International Conference on Electronics, Information, and Communication (ICEIC) Pub Date : 2021-01-31 DOI:10.1109/ICEIC51217.2021.9369735

Sangheum Lee, Taehyeon Kim, Myunghyun Kim, Donghan Kim

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引用次数: 0

摘要

提出了一种基于移动机械臂预姿态估计器(MMPPE)的同步控制算法。传统的方法是在移动平台移动后控制机械手的顺序方法。然而，该方法可以提前识别目标姿态，并预测机械手和移动机器人的姿态。它比传统的顺序控制方法具有更高的时间效率。通过基于ROS的积分，并通过仿真验证算法。

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Simultaneous control algorithm for mobile manipulator using MMPPE

This paper proposes the simultaneous control algorithm using Mobile Manipulator Pre-Pose Estimator (MMPPE). A conventional method is a sequential method in which the manipulator is controlled after the mobile platform moves. However, the proposed method recognizes the target pose in advance and predicts the posture of the manipulator and the mobile robot. It has more time efficiency than conventional sequential control method. By integrating this based on ROS and verify the algorithm using simulation.

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2021 International Conference on Electronics, Information, and Communication (ICEIC)

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