Mobile Manipulation Platform Control

Victor Putov(1*), Anton Putov(2), Konstantin Ignatiev(3), Michael Kopichev(4), Jacqueline Asiedu-Baah(5)

(1) Saint-Petersburg Electrotechnical University "LETI, Russian Federation
(2) Saint-Petersburg Electrotechnical University "LETI, Russian Federation
(3) Saint-Petersburg Electrotechnical University "LETI, Russian Federation
(4) Saint-Petersburg Electrotechnical University "LETI, Russian Federation
(5) Saint-Petersburg Electrotechnical University "LETI, Russian Federation
(*) Corresponding author


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Abstract


This paper presents a mobile manipulation platform control for the industrial manipulator Nokia PUMA (Programmable Universal Manipulation Arm). The main research steps were: designing the control system for the direct current motors, that provides motion of the manipulator‘s links and platform, then - thinking through and writing algorithms for a single board computer for providing data acquisition and impacts generation, and designing the printed circuit boards for motion control. The goal was to design an autonomous industrial manipulator with multitasking and abilities of spatial orientation and pattern recognition.


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Keywords


Mobile Manipulator; Control System; Spatial Orientation; Pattern Recognition

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References


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