Аннотация:
This paper presents experimental investigations of the control algorithm of a highly maneuverable mobile manipulation robot. The kinematics of a mobile manipulation robot, the algorithm of trajectory planning of the mobile robot to the point of object gripping are considered. By realization of the algorithm, the following tasks are solved: solution of the inverse positional task for the mobile manipulation robot; motion planning of the mobile manipulator taking into account the minimization of energy and time consumption per movement. The result of the algorithm is a movement to the point of gripping of the manipulation object; grasping and loading of the object. Experimental investigations of the developed algorithms are given.
Ключевые слова:
mobile manipulation robot, motion planning, trajectory discretization, Kinect.
The work of V.A. Shestakov and K. S.Yefremov (Sections 1, 2 and 3) was supported by the Russian
Science Foundation under grant 19-71-30012 and performed in Steklov Mathematical Institute of Russian
Academy of Sciences. The work of Yu. L. Karavaev (Sections 4 and 5) was supported by the Russian
Foundation for Basic Research and the Udmurt Republic, grant No. 18-48-183004 and was carried
out within the framework of the state assignment of the Ministry of Education and Science of Russia
(1.2405.2017/4.6).
Поступила в редакцию: 09.06.2019 Принята в печать: 02.10.2019
Образец цитирования:
Yu. L. Karavaev, V. A. Shestakov, K. S. Yefremov, “Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot”, Rus. J. Nonlin. Dyn., 15:4 (2019), 487–495
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\paper Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot
\jour Rus. J. Nonlin. Dyn.
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\vol 15
\issue 4
\pages 487--495
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Цитирование в формате AMSBIB
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