Design and control of a mobile manipulator with stereo vision guidance

Çetin L., Uyar E.

International Journal of Mechatronics and Manufacturing Systems, vol.2, no.3, pp.369-382, 2009 (Scopus) identifier


Using vision based control, two different control types for mobile platform and manipulator is applied. Mobile platform is controlled with a hybrid visual servo controller. Its instantaneous linear velocity is controlled via position based visual servoing and its angular velocity is controlled via image based visual servoing. Manipulator motion is controlled through dynamic look and move control strategy. Control of the mobile manipulator is done by task sequencing. A task is separated into two parts: Mobile platform moves till target is placed in manipulator workspace afterwards manipulator moves to hold target. Experimental results demonstrates success of control system in autonomus positioning tasks. © 2009 Inderscience Enterprises Ltd.