移动操作的协调轨迹跟踪

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI:10.1109/ROBOT.2000.845268

M. Egerstedt, Xiaoming Hu

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引用次数: 42

摘要

提出并分析了一种独立于平台的移动操作和协调轨迹跟踪控制方法。给定夹持器遵循的路径，为基座规划的另一条路径在可操作性方面是可行的。然后，基座和末端执行器根据已验证的稳定误差反馈控制算法遵循各自的参考轨迹，而基座的放置方式使末端执行器的轨迹始终在机械臂可及的范围内。

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Coordinated trajectory following for mobile manipulation

A platform independent control approach for mobile manipulation and coordinated trajectory following is proposed and analyzed. Given a path for the gripper to follow, another path is planned for the base in such a way that it is feasible with respect to manipulability. The base and the end-effector then follow their respective reference trajectories according to proven stable, error-feedback control algorithms, while the base is placed in such a way that the end-effector trajectory always is within reach for the manipulator.

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来源期刊

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

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