| ID | 30065 |
| FullText URL | |
| Author |
Nagatani, Keiji
Tanaka, Yutaka
|
| Abstract | Our research goal is to realize an intelligent autonomous motion for a mobile manipulator. A model task for mobile manipulators, "returning books to bookshelf" was chosen as our research task. To realize the task, we adopt a programming style named "action primitive" for programming the robot controller. Each action primitive is a basic motion control program, and the whole motion of the robot is generated by executing a sequence of action primitives step by step. The paper describes motion design for the above research task based on the action primitive concept, and reports simulation results of the designed motion |
| Keywords | manipulators
mobile robots
motion control
position control
robot programming
|
| Note | Digital Object Identifier: 10.1109/IECON.2000.973183
Published with permission from the copyright holder. This is the institute's copy, as published in Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE, 22-28 Oct. 2000, Volume: 1, Pages 399-404. Publisher URL:http://dx.doi.org/10.1109/IECON.2000.973183 Copyright © 2000 IEEE. All rights reserved. |
| Published Date | 2000-10
|
| Publication Title |
Industrial Electronics Society
|
| Start Page | 399
|
| End Page | 404
|
| Content Type |
Journal Article
|
| language |
English
|
| Refereed |
True
|
| DOI | |
| Submission Path | industrial_engineering/84
|
