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Arabian Journal for Science and Engineering
Published in: Arabian Journal for Science and Engineering 3/2020

01-07-2019 | Technical Note-Systems Engineering

Experimental Analysis of the Performance of Mobile Manipulators Executing Generalized Point-to-Point Tasks

Author: Isma Akli

Published in: Arabian Journal for Science and Engineering | Issue 3/2020

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Abstract

This article focuses on an experimental analysis of the performance of a mobile manipulator (MM) executing generalized point-to-point tasks. This leads to surpass constraints, depending on the mechanical structure of the robot, on the environment and on the task to be performed. The robotic system is made up of a robotic arm mounted on wheeled mobile robot. Polynomial trajectory planning method is applied to generate trajectories, assigned to a real robot. The experimentations deal with motion coordination, control and task execution problems. Different ways to execute generated trajectories on a real MM (RobuTER/ULM) are tested, and several parameters influencing the movement of the system are examined.
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Metadata
Title
Experimental Analysis of the Performance of Mobile Manipulators Executing Generalized Point-to-Point Tasks
Author
Isma Akli
Publication date
01-07-2019
Publisher
Springer Berlin Heidelberg
Published in
Arabian Journal for Science and Engineering / Issue 3/2020
Print ISSN: 2193-567X
Electronic ISSN: 2191-4281
DOI
https://doi.org/10.1007/s13369-019-03929-0

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