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Kinematic Control of a Mobile Manipulator

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Proceedings of the International Conference on Signal, Networks, Computing, and Systems

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 396))

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Abstract

Proper motion planning algorithms are necessary for intelligent robotic systems in order to execute their specific tasks. To solve this problem, current research work introduces the inverse kinematic models for mobile manipulators. In general, a systematic closed-form solution is not available in the case of inverse kinematic models. To obtain elucidation for inverse kinematic problem is more complex as compared to direct kinematics problem. The current research work aims to combine the functionality of a robot arm with an autonomous platform. It means development of an autonomous wheeled mobile robot on which the robot arm is mounted. The purpose of this work is to integrate both the segments (i.e., mobile manipulator and mobile platform), such that the system can perform the constrained moves of the arm in the mean while as the platform is moving.

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References

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, National Institute of Technology-Rourkela, Rourkela, India

    B. B. V. L. Deepak & Dayal R. Parhi

  2. Department of Industrial Design, National Institute of Technology-Rourkela, Rourkela, India

    B. B. V. L. Deepak & Ravi Praksh

Authors
  1. B. B. V. L. Deepak
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  2. Dayal R. Parhi
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  3. Ravi Praksh
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Corresponding author

Correspondence to B. B. V. L. Deepak .

Editor information

Editors and Affiliations

  1. School of Computer & Systems Sciences, Jawaharlal Nehru University, New Delhi, Delhi, India

    Daya K. Lobiyal

  2. Dept. of Computer Science & Engineering, National Institute of Technology , Rourkela, Odisha, India

    Durga Prasad Mohapatra

  3. Department of Computer Science, Liverpool Hope University Faculty of Science, Liverpool, United Kingdom

    Atulya Nagar

  4. National Institute of Technology, Department of Computer Science & EngineeringNational Institute of Technology, Rourkela, Odisha, India

    Manmath N. Sahoo

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© 2016 Springer India

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Deepak, B.B.V.L., Parhi, D.R., Praksh, R. (2016). Kinematic Control of a Mobile Manipulator. In: Lobiyal, D., Mohapatra, D., Nagar, A., Sahoo, M. (eds) Proceedings of the International Conference on Signal, Networks, Computing, and Systems. Lecture Notes in Electrical Engineering, vol 396. Springer, New Delhi. https://doi.org/10.1007/978-81-322-3589-7_38

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  • DOI: https://doi.org/10.1007/978-81-322-3589-7_38

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  • Publisher Name: Springer, New Delhi

  • Print ISBN: 978-81-322-3587-3

  • Online ISBN: 978-81-322-3589-7

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