Authors: Hideaki Tai, Toshiyuki Murakami
Addresses: Department of System Design Engineering, Keio University, Yokohama, Japan. ' Department of System Design Engineering, Keio University, Yokohama, Japan
Abstract: Recently, the importance of the robots for home, public places and many other places are increasing. In order to realise autonomous work in such dynamic and unknown environment, recognising external world is required. In addition, robots also have to move quickly and work accurately. In this paper, the control system for a two wheels driven redundant mobile manipulator with a monocular camera as a visual sensor is proposed. Proposed system consists of two control subsystems, task execution and stabilisation control. The task execution control realises accurate tasks and quick movement. The stabilisation control stabilises the posture of the robot. Combining these two control systems by null space, robots can realise desired motion and stabilisation simultaneously. Experiments were carried out to show the validity of the proposed method.
Keywords: mobile manipulators; mobile robots; monocular camera; null space; passive joint estimation; redundancy; visual servoing; robot vision; robot control; robot motion; robot stability.
International Journal of Intelligent Systems Technologies and Applications, 2010 Vol.8 No.1/2/3/4, pp.361 - 381
Available online: 11 Dec 2009 *Full-text access for editors Access for subscribers Purchase this article Comment on this article