Geodesic
Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot
Russian journal of nonlinear dynamics, Tome 15 (2019) no. 4, pp. 487-495

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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.
Keywords: motion planning, trajectory discretization, Kinect.
Mots-clés : mobile manipulation robot 
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     title = {Experimental {Investigations} of the {Control} {Algorithm} of a {Mobile} {Manipulation} {Robot}},
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Yu. L. Karavaev; V. A. Shestakov; K. S. Yefremov. Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot. Russian journal of nonlinear dynamics, Tome 15 (2019) no. 4, pp. 487-495. http://geodesic.mathdoc.fr/item/ND_2019_15_4_a7/