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https://dspace.iiti.ac.in/handle/123456789/5669
| Title: | Simplified motion control of a vehicle-manipulator for the coordinated mobile manipulation |
| Authors: | Mishra, Swati Mohan, Santhakumar Vishvakarma, Santosh Kumar |
| Keywords: | End effectors;Inverse problems;Jacobian matrices;Kinematics;Motion control;Vehicles;Configuration space;Experimental testing;Manipulator systems;Mobile manipulation;Motion trajectories;Operational space control;Redundant system;Serial manipulators;Manipulators |
| Issue Date: | 2020 |
| Publisher: | Defense Scientific Information and Documentation Centre |
| Citation: | Mishra, S., Mohan, S., & Vishvakarma, S. K. (2020). Simplified motion control of a vehicle-manipulator for the coordinated mobile manipulation. Defence Science Journal, 70(1), 72-81. doi:10.14429/dsj.70.14119 |
| Abstract: | This paper considers a resolved kinematic motion control approach for controlling a spatial serial manipulator arm that is mounted on a vehicle base. The end-effector's motion of the manipulator is controlled by a novel kinematic control scheme, and the performance is compared with the well-known operational-space control scheme. The proposed control scheme aims to track the given operational-space (end-effector) motion trajectory with the help of resolved configuration-space motion without using the Jacobian matrix inverse or pseudo inverse. The experimental testing results show that the suggested control scheme is as close to the conventional operational-space kinematic control scheme. © 2020, DESIDOC |
| URI: | https://doi.org/10.14429/dsj.70.14119 https://dspace.iiti.ac.in/handle/123456789/5669 |
| ISSN: | 0011-748X |
| Type of Material: | Journal Article |
| Appears in Collections: | Department of Electrical Engineering |
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