news!
people
activities
equipments
publications
collaborations
past_activities
links
search
  
 > Home > Publications >

M. Gilioli, C. Melchiorri
"Coordinated Mobile Manipulator Point-stabilization Using Visual-Servoing Techniques"
 
Type Conference
Author(s) M. Gilioli, C. Melchiorri
Title Coordinated Mobile Manipulator Point-stabilization Using Visual-Servoing Techniques
Editor IEEE/RSJ Int. Conf. IROS 2002, Lausanne, CH
Keywords Mobile robotics, control
Abstract
In this paper we consider the problem of stabilizing in a desired configuration a mobile manipulator; only the arm's joint displacements information and the measures provided by a camera mounted on the end-eŽector are used to stabilize the system. In particular, no knowledge about the position and the orientation of the mobile base is supposed to be available. An hybrid control algorithm, based on the concatenation of a sensor-based feedback control and an open-loop strategy, is proposed. A 3-dof planar manipulator mounted on a mobile base, modelled as an unicycle, is considered as case study, and simulation results are reported in order to demonstrate the capabilities of the proposed control algorithm.
Document 7574.Document.pdf (201233 bytes)
Year 2002


pick and add to your personal selectionexplain the meaning of the fieldsHOMELOGIN (you are guest)   Web Oriented Database Home
Copyright Š 2000, DEIS - University of Bologna. All rights reserved.
Send an e-mail to the WebMaster