Article Sidebar
Downloads
Main Article Content
Abstract
In this paper, we present the hardware and software architectures of an experimental real time control system of a mobile manipulator that performs tasks of manipulating objects in an environment of a large space. The mechanical architecture is a manipulator arm mounted on a mobile platform. In this work we show how one can implement an imbedded system, which includes the hardware and the software. The system makes use of a PC as the host and constitutes the high level layer. It is configured in such a way that it performs all the input-output interface operations; and is composed of different modules that constitute the software making up the required operations to be executed in a scheduling manner in order to meet the requirements of the real time control. In this paper, we also focus on the development of the generalized trajectory generation for the case of tasks where only one subsystem is considered to move and when the whole system is in permanent movement to achieve a particular task either in a free environment, or in presence of obstacles.
Keywords
Article Details
References
- Abdessemed, F., Benmahammed, K. and Monacelli, E., 2004, ."A Fuzzy-Based Reactive Controller for Non- Holonomic Mobile Robot, J. of Robotics and Autonomous Systems, Vol. 47, pp. 31-46.
- Abdessemed, F., 2004, "Control and Planification of a Mobile Manipulator," 12th Med. Conf. on Control and Automation, June 6-9, Kusadasi, Tutkey.
- Abdessemed, F. and Benmahammed, K., 2001, "A Two- Layer Robot Controller Design Using Evolutionnary Algorithms," J. of Intelligent and Robotic System, Vol. 30, pp. 73-94.
- Corke, P.I., 1989, “A New Approach to Laboratory Motor Control,” MMCS: The Modular Motor Control System; Department of Comp Inform. Science, University of Pennsylvania Tech. Rep. MS-CIS-89- 17, GRASP LAB 175.
- Khatib, O., 1986, “Real Time Obstacle Avoidance for Manipulators and Mobile Robots," Int. J. of Robotics Research, Vol. 5(1).
- Lee, J.K. and Cho, H.S., 1997, " Mobile Manipulator Motion Planning for Multiple Tasks Using Global Optimization Approach," J. of Intelligent and Robotic Systems, Vol. 18, pp. 169-190.
- Lee, J.K. and Cho, H.S., 1997, "Mobile Manipulator Motion Planning for Multiple Tasks Using Global Optimization Approach," J. of Intelligent and Robotic Systems, Vol.18, pp. 169-190.
- Lee, J.K. and Cho, H.S., 1997, "Mobile Manipulator Motion Planning for Multiple Tasks Using Global Optimisation Approach," J. of Intelligent and Robotic Systems, Vol. 18, pp. 169-190.
- Lee, J.K. and Cho, J.S., 1997, "Mobile Manipulator Motion Planning for Multiple Tasks Using Global Optimization Approach," J. of Intelligent and Robotic Systems, Vol. 18, pp. 169-190.
- Liegeois, A., 1977, “Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms,” IEEE Trans. On Systems and Cybernetics, Vol. SMC-7(12).
- Nassal, U.M., 1996, “Motion Coordination and Reactive Control of Autonomous Multi Manipulators Systems,” J. of Robotic Systems, Vol. 13(11), pp. 737-754.
- Paljug E. and Yun X., 1995 "Experimental Study of Two Robot Arms Manipulating Large Objects," IEEE
- Trans. On Cont. Syst. Tech. Vol 3(2), pp. 177-188.
- Pin, F.G., Morgansen, K.A., Tulloch, F.A., Hacker, C.J. and Gower, K.B., 1996, "Motion Planning for Mobile Manipulators with a Non-Holonomic Constraint Using the FSP (Full Space Parameterization)
- Method," J. of Robotic Systems, Vol. 13(11), pp. 723- 736.
- Pin. F.G. and Culioli, J.C., 1992, " Optimal Positioning of Combined Mobile Platform-Manipulator Systems for Material Handling Tasks," J. of Intelligent and Robotic Systems. Vol. 6, pp. 165-182.
- Seraji, H., 1995, “Configuration Control of Rover-
- Mounted Manipulators,” IEEE Int. Conf. on Robotics and Automation, pp. 2261-2266.
- Yamamoto, Y. and Yun, X., 1994, "Coordination
- Locomotion and Manipulation of a Mobile Manipulator," IEEE Transactions on Automatic Control, Vol. l39(6), pp 1326-1332.
- Yamamoto, Y. and Yun, X., 1995, "Coordinated Obstacle Avoidance of a Mobile Manipulator," IEEE International Conference on Robotics and Automation.
- Zhang, H., 1986, "Design and Implementation of a Robot
- Force and Motion Server," PhD, Dissertation, Perdue University.
- Zhao, M., Ansari, N. and Hou, E.S.H., 1994, “ Mobile Manipulator Path Planning by a Genetic Algorithm,” J. of Robotic Systems, Vol. 11(3), pp. 143-153.
References
Abdessemed, F., Benmahammed, K. and Monacelli, E., 2004, ."A Fuzzy-Based Reactive Controller for Non- Holonomic Mobile Robot, J. of Robotics and Autonomous Systems, Vol. 47, pp. 31-46.
Abdessemed, F., 2004, "Control and Planification of a Mobile Manipulator," 12th Med. Conf. on Control and Automation, June 6-9, Kusadasi, Tutkey.
Abdessemed, F. and Benmahammed, K., 2001, "A Two- Layer Robot Controller Design Using Evolutionnary Algorithms," J. of Intelligent and Robotic System, Vol. 30, pp. 73-94.
Corke, P.I., 1989, “A New Approach to Laboratory Motor Control,” MMCS: The Modular Motor Control System; Department of Comp Inform. Science, University of Pennsylvania Tech. Rep. MS-CIS-89- 17, GRASP LAB 175.
Khatib, O., 1986, “Real Time Obstacle Avoidance for Manipulators and Mobile Robots," Int. J. of Robotics Research, Vol. 5(1).
Lee, J.K. and Cho, H.S., 1997, " Mobile Manipulator Motion Planning for Multiple Tasks Using Global Optimization Approach," J. of Intelligent and Robotic Systems, Vol. 18, pp. 169-190.
Lee, J.K. and Cho, H.S., 1997, "Mobile Manipulator Motion Planning for Multiple Tasks Using Global Optimization Approach," J. of Intelligent and Robotic Systems, Vol.18, pp. 169-190.
Lee, J.K. and Cho, H.S., 1997, "Mobile Manipulator Motion Planning for Multiple Tasks Using Global Optimisation Approach," J. of Intelligent and Robotic Systems, Vol. 18, pp. 169-190.
Lee, J.K. and Cho, J.S., 1997, "Mobile Manipulator Motion Planning for Multiple Tasks Using Global Optimization Approach," J. of Intelligent and Robotic Systems, Vol. 18, pp. 169-190.
Liegeois, A., 1977, “Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms,” IEEE Trans. On Systems and Cybernetics, Vol. SMC-7(12).
Nassal, U.M., 1996, “Motion Coordination and Reactive Control of Autonomous Multi Manipulators Systems,” J. of Robotic Systems, Vol. 13(11), pp. 737-754.
Paljug E. and Yun X., 1995 "Experimental Study of Two Robot Arms Manipulating Large Objects," IEEE
Trans. On Cont. Syst. Tech. Vol 3(2), pp. 177-188.
Pin, F.G., Morgansen, K.A., Tulloch, F.A., Hacker, C.J. and Gower, K.B., 1996, "Motion Planning for Mobile Manipulators with a Non-Holonomic Constraint Using the FSP (Full Space Parameterization)
Method," J. of Robotic Systems, Vol. 13(11), pp. 723- 736.
Pin. F.G. and Culioli, J.C., 1992, " Optimal Positioning of Combined Mobile Platform-Manipulator Systems for Material Handling Tasks," J. of Intelligent and Robotic Systems. Vol. 6, pp. 165-182.
Seraji, H., 1995, “Configuration Control of Rover-
Mounted Manipulators,” IEEE Int. Conf. on Robotics and Automation, pp. 2261-2266.
Yamamoto, Y. and Yun, X., 1994, "Coordination
Locomotion and Manipulation of a Mobile Manipulator," IEEE Transactions on Automatic Control, Vol. l39(6), pp 1326-1332.
Yamamoto, Y. and Yun, X., 1995, "Coordinated Obstacle Avoidance of a Mobile Manipulator," IEEE International Conference on Robotics and Automation.
Zhang, H., 1986, "Design and Implementation of a Robot
Force and Motion Server," PhD, Dissertation, Perdue University.
Zhao, M., Ansari, N. and Hou, E.S.H., 1994, “ Mobile Manipulator Path Planning by a Genetic Algorithm,” J. of Robotic Systems, Vol. 11(3), pp. 143-153.