File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1109/ICRA.2014.6907493
- Scopus: eid_2-s2.0-84911476849
- Find via
Supplementary
-
Citations:
- Scopus: 0
- Appears in Collections:
Conference Paper: Coordination of a nonholonomic mobile platform and an on-board manipulator
Title | Coordination of a nonholonomic mobile platform and an on-board manipulator |
---|---|
Authors | |
Issue Date | 2014 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2014, p. 4356-4361 How to Cite? |
Abstract | © 2014 IEEE. Mobile manipulators provide more advantages and flexibility in a wide range of applications than standard manipulators by introducing mobility. However, adding mobile platforms to standard manipulators, especially nonholonomic mobile platforms, introduces new challenges to the system modeling and control. Most existing methods for mobile manipulators do not consider the performance difference between the mobile platform and the manipulator and therefore cannot handle the uncertain and unexpected events happened in both the mobile platform and the manipulator. This paper introduces a planning and control method in a perceptive reference frame for a nonholonomic mobile manipulator to efficiently handle uncertain and unexpected events. The experimental results on a nonholonomic mobile manipulator demonstrate the effectiveness and advantages of the designed method. |
Persistent Identifier | http://hdl.handle.net/10722/213438 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jia, Yunyi | - |
dc.contributor.author | Xi, Ning | - |
dc.contributor.author | Nieves, Erick | - |
dc.date.accessioned | 2015-07-28T04:07:17Z | - |
dc.date.available | 2015-07-28T04:07:17Z | - |
dc.date.issued | 2014 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2014, p. 4356-4361 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/213438 | - |
dc.description.abstract | © 2014 IEEE. Mobile manipulators provide more advantages and flexibility in a wide range of applications than standard manipulators by introducing mobility. However, adding mobile platforms to standard manipulators, especially nonholonomic mobile platforms, introduces new challenges to the system modeling and control. Most existing methods for mobile manipulators do not consider the performance difference between the mobile platform and the manipulator and therefore cannot handle the uncertain and unexpected events happened in both the mobile platform and the manipulator. This paper introduces a planning and control method in a perceptive reference frame for a nonholonomic mobile manipulator to efficiently handle uncertain and unexpected events. The experimental results on a nonholonomic mobile manipulator demonstrate the effectiveness and advantages of the designed method. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Coordination of a nonholonomic mobile platform and an on-board manipulator | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ICRA.2014.6907493 | - |
dc.identifier.scopus | eid_2-s2.0-84911476849 | - |
dc.identifier.spage | 4356 | - |
dc.identifier.epage | 4361 | - |
dc.identifier.issnl | 1050-4729 | - |