JPL Technical Report Server

Motion Control of Rover-Mounted Manipulators

Show simple item record Seraji, Homayoun en_US 2004-10-05T06:26:20Z 2004-10-05T06:26:20Z 1994-05 en_US
dc.identifier.citation San Diego, CA en_US
dc.identifier.clearanceno 94-1332 en_US
dc.description.abstract This paper presents a simple online approach for motion control of rover-mounted manipulators. An integrated kinetic model of the rover-plus-manipulator system is derived which incorporates the nonholonomic rover constraint with the holonomic end-effector constraint. The redundancy introduced by the rover mobility is exploited to perform a set of user-specified additional tasks during end-effector motion. The configuration control approach is utilized to satisfy the nonholonomic rover constraint, while accomplishing the end-effector motion and the redundancy resolution goal simultaneously. This framework allows the user to assign weighting factors to the rover movement and manipulator motion, as well as to each task specification. The computational efficiency of the control scheme makes it particularly suitable for real-time implementation. The proposed method is applied to a planar two-jointed arm mounted on a rover, and computer simulation results are presented for illustration. en_US
dc.format.extent 1046748 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US
dc.subject.other robotics rover manipulator holonomic end-effector computer control teleoperator motion control en_US
dc.title Motion Control of Rover-Mounted Manipulators en_US

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