Title: Design and control of a mobile manipulator with stereo vision guidance

Authors: Levent Cetin, Erol Uyar

Addresses: Department of Mechanical Engineering, Dokuz Eylul University, Mechatronics Laboratory Bornova/Izmir, Turkey. ' Department of Mechanical Engineering, Dokuz Eylul University, Mechatronics Laboratory Bornova/Izmir, Turkey

Abstract: Using vision based control, two different control types for mobile platform and manipulator is applied. Mobile platform is controlled with a hybrid visual servo controller. Its instantaneous linear velocity is controlled via position based visual servoing and its angular velocity is controlled via image based visual servoing. Manipulator motion is controlled through dynamic look and move control strategy. Control of the mobile manipulator is done by task sequencing. A task is separated into two parts: Mobile platform moves till target is placed in manipulator workspace afterwards manipulator moves to hold target. Experimental results demonstrates success of control system in autonomus positioning tasks.

Keywords: visual servoing; mobile manipulators; mobile robots; stereo vision; robot vision; robot control; robot positioning.

DOI: 10.1504/IJMMS.2009.026052

International Journal of Mechatronics and Manufacturing Systems, 2009 Vol.2 No.3, pp.369 - 382

Available online: 26 May 2009 *

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