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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Vision Based Control of a Mobile Manipulator

Vision Based Control of a Mobile Manipulator

Çetin, Levent

Paperback

Technology & Engineering

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ISBN10: 3838358244
ISBN13: 9783838358246
Publisher: Lap Lambert Academic Pub
Published: Jul 6 2010
Pages: 120
Weight: 0.41
Height: 0.28 Width: 6.00 Depth: 9.00
Language: English
In this book, control of a mobile manipulator system with a calibrated stereo rig is presented. Autonomous mobile manipulator equipped with a vision based target monitoring system can find and track a moving target and also manipulate it. The vision system is utilized to obtain task space feedback for mobile manipulator control. Using vision data, mobile platform (base) and manipulator are controlled with a hybrid visual servo controller and dynamic look and move methodology, respectively. This work also introduces a methodology concerning how the positioning error can be distributed between two mechanical subsystems: base and manipulator. In general these two systems have some degrees of freedom, which correspond to a task space motion capability in the same axis.

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