カメラフィードバックを用いた自律移動マニピュレータの位置・速度制御

抄録

It is more effective if a manipulator being set on a mobile robot can operate to load or unload while the mobile robot is moving. This paper presents the control method for the moving operations of an autonomous mobile manipulator (AMM) . The AMM moving in the horizontal plane produces position errors in the plane and rotation error around the vertical axis, but does not produce the errors concerning with the other directions. Using this relation, we present a hybrid control system which consists of a camera feedback system and a kinematical one. We designed a control system for the AMM by introducing switching matrix to avoid the interactions of the two control systems. The experimental results using our AMM which consists of a power wheeled steering mobile robot and a PUMA-type manipulator show basic data of the control system.