Geometry Based Recursive Algorithm to Control the End Effector of Coordinated TRRLR Manipulators


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Abstract


This paper focuses on a mobile manipulator which is the combination of a mobile platform and a manipulator, with a highly flexible system, which can be used in hazardous application. One of the challenges with mobile manipulators is the construction of control systems, enabling the robot to operate safely in potentially dynamic and all terrain environments. In this paper we will present work in which a mobile manipulator is controlled using the hybrid approach. The method presented is a real time approach in which geometry of the arm with onboard sensor data processing  are used both for the overall coordination of the mobile platform and the manipulator as well as the trajectory planning along a straight line parallel to two planes.
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Keywords


Forward Kinematics; Trajectory Planning; Robotics Toolbox

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References


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