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Nelin. Dinam., 2019, Volume 15, Number 4, Pages 487–495 (Mi nd675)  

Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot

Yu. L. Karavaeva, V. A. Shestakovb, K. S. Yefremovb

a M. T. Kalashnikov Izhevsk State Technical University, ul. Studencheskaya 7, Izhevsk, 426069 Russia
b V. A. Steklov Mathematical Institute of RAS, ul. Gubkina 8, Moscow, 119991 Russia

Abstract: 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: mobile manipulation robot, motion planning, trajectory discretization, Kinect

Funding Agency Grant Number
Russian Science Foundation 19-71-30012
Russian Foundation for Basic Research 18-48-183004
Ministry of Education and Science of the Russian Federation 1.2405.2017/4.6
The work of V.A. Shestakov and K. S.Yefremov (Sections 1, 2 and 3) was supported by the Russian Science Foundation under grant 19-71-30012 and performed in Steklov Mathematical Institute of Russian Academy of Sciences. The work of Yu. L. Karavaev (Sections 4 and 5) was supported by the Russian Foundation for Basic Research and the Udmurt Republic, grant No. 18-48-183004 and was carried out within the framework of the state assignment of the Ministry of Education and Science of Russia (1.2405.2017/4.6).


DOI: https://doi.org/10.20537/nd190407

Full text: PDF file (1258 kB)
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MSC: 68T40, 70Q05, 68T45
Received: 09.06.2019
Accepted:02.10.2019

Citation: Yu. L. Karavaev, V. A. Shestakov, K. S. Yefremov, “Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot”, Nelin. Dinam., 15:4 (2019), 487–495

Citation in format AMSBIB
\Bibitem{KarSheEfr19}
\by Yu. L. Karavaev, V. A. Shestakov, K. S. Yefremov
\paper Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot
\jour Nelin. Dinam.
\yr 2019
\vol 15
\issue 4
\pages 487--495
\mathnet{http://mi.mathnet.ru/nd675}
\crossref{https://doi.org/10.20537/nd190407}


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