Software and Hardware Developments For a Mobile Manipulator Control

F. Abdessemed, E. Monacelli

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


CAN-Bus, FPGA, Mobile manipulator, QNX, Micro-controller, Trajectory generation

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References


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DOI: http://dx.doi.org/10.24200/tjer.vol5iss1pp37-46

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