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- Publisher Website: 10.1109/CYBER55403.2022.9907307
- Scopus: eid_2-s2.0-85141197860
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Conference Paper: Event-based Motion Planning and Control for Mobile Manipulator
| Title | Event-based Motion Planning and Control for Mobile Manipulator |
|---|---|
| Authors | |
| Keywords | event-based mobile manipulator motion plan-ning |
| Issue Date | 27-Jul-2022 |
| Abstract | This paper presents a whole-body, event-based motion planning and control method for a non-holonomic, six degrees of freedom (DOF) mobile manipulator. First, the mathematical modeling of the mobile manipulator is intro-duced in order to construct the event-based planning and control framework. Then, the synchronization performance of the mobile base and manipulator is illustrated. Finally, the experimental process verifies that the event-based method has a lower tracking error under the same external conditions by comparing the experimental results of the time- and event-based motion planning and control methods. |
| Persistent Identifier | http://hdl.handle.net/10722/333885 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Ye, Jiajie | - |
| dc.contributor.author | Ma, Ye | - |
| dc.contributor.author | Wang, Siyu | - |
| dc.contributor.author | Kwok, Chun | - |
| dc.contributor.author | Wang, Qingyang | - |
| dc.contributor.author | Xi, Ning | - |
| dc.date.accessioned | 2023-10-06T08:39:53Z | - |
| dc.date.available | 2023-10-06T08:39:53Z | - |
| dc.date.issued | 2022-07-27 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/333885 | - |
| dc.description.abstract | <div>This paper presents a whole-body, event-based motion planning and control method for a non-holonomic, six degrees of freedom (DOF) mobile manipulator. First, the mathematical modeling of the mobile manipulator is intro-duced in order to construct the event-based planning and control framework. Then, the synchronization performance of the mobile base and manipulator is illustrated. Finally, the experimental process verifies that the event-based method has a lower tracking error under the same external conditions by comparing the experimental results of the time- and event-based motion planning and control methods.</div> | - |
| dc.language | eng | - |
| dc.relation.ispartof | 2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) (27/07/2022-31/07/2022, Baishan) | - |
| dc.subject | event-based | - |
| dc.subject | mobile manipulator | - |
| dc.subject | motion plan-ning | - |
| dc.title | Event-based Motion Planning and Control for Mobile Manipulator | - |
| dc.type | Conference_Paper | - |
| dc.identifier.doi | 10.1109/CYBER55403.2022.9907307 | - |
| dc.identifier.scopus | eid_2-s2.0-85141197860 | - |
| dc.identifier.spage | 1206 | - |
| dc.identifier.epage | 1211 | - |