Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot
Yury L. Karavaev, Vyacheslav A. Shestakov, Kirill S. Yefremov · Nelineinaya Dinamika · 2019
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.