Real Time System Design for a Mobile Manipulator

International journal of online engineering

Oscar Fernando Aviles Sánchez¹ 

[1] Universidad Militar NUeva Granada

关键词: Direct Kinematics;    Electronic design;    Inverse kinematics;    Mobile manipulator;    Real-time system;    Robotic system;   

DOI  :  

学科分类：社会科学、人文和艺术（综合）

来源: International Association of Online Engineering

【 摘 要 】

A mobile manipulator is defined as a mechanism composed by a serial manipulator located just above robotic platform. Besides, is a system with kinematic restrictions determined by an independent movement of the wheels and the degrees of freedom of the manipulator arm. The combination of the previous systems increases the advantages in terms of maneuverability, efficiency, range, between others. Another advantage of manipulator robot is the larger working space when it moves over a mobile platform allowing to reach different position on XY cartesian plane. Therefore, the design of a real-time system for a mobile manipulator will be shown in this paper.

【 授权许可】

Unknown