{"title":"一类带物理约束的移动机械臂的拉格朗日运动控制","authors":"Xiaojing Lv, Enhua Xu, Juanxiu Liu","doi":"10.1109/AIID51893.2021.9456566","DOIUrl":null,"url":null,"abstract":"Mobile manipulator could perform tasks in a larger workspace than fixed based manipulators. However, it also brings challenges to high precision kinematic control. The difficulties are mainly concentrated in the system redundancy and sensor noises. In this paper, we propose a novel kinematic controller for a kind of mobile manipulators, which is capable of handling system redundancy, physical constraints and noises. The controller is designed in velocity level, and is compliance to joint angles, velocities as well as accelerations.","PeriodicalId":412698,"journal":{"name":"2021 IEEE International Conference on Artificial Intelligence and Industrial Design (AIID)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Lagrange based Kinematic Control for a Class of Mobile Manipulators with Physical Constraints\",\"authors\":\"Xiaojing Lv, Enhua Xu, Juanxiu Liu\",\"doi\":\"10.1109/AIID51893.2021.9456566\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Mobile manipulator could perform tasks in a larger workspace than fixed based manipulators. However, it also brings challenges to high precision kinematic control. The difficulties are mainly concentrated in the system redundancy and sensor noises. In this paper, we propose a novel kinematic controller for a kind of mobile manipulators, which is capable of handling system redundancy, physical constraints and noises. The controller is designed in velocity level, and is compliance to joint angles, velocities as well as accelerations.\",\"PeriodicalId\":412698,\"journal\":{\"name\":\"2021 IEEE International Conference on Artificial Intelligence and Industrial Design (AIID)\",\"volume\":\"3 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-05-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IEEE International Conference on Artificial Intelligence and Industrial Design (AIID)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AIID51893.2021.9456566\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE International Conference on Artificial Intelligence and Industrial Design (AIID)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AIID51893.2021.9456566","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Lagrange based Kinematic Control for a Class of Mobile Manipulators with Physical Constraints
Mobile manipulator could perform tasks in a larger workspace than fixed based manipulators. However, it also brings challenges to high precision kinematic control. The difficulties are mainly concentrated in the system redundancy and sensor noises. In this paper, we propose a novel kinematic controller for a kind of mobile manipulators, which is capable of handling system redundancy, physical constraints and noises. The controller is designed in velocity level, and is compliance to joint angles, velocities as well as accelerations.
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