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Experimental Analysis of the Performance of Mobile Manipulators Executing Generalized Point-to-Point Tasks

  • Technical Note-Systems Engineering
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Abstract

This article focuses on an experimental analysis of the performance of a mobile manipulator (MM) executing generalized point-to-point tasks. This leads to surpass constraints, depending on the mechanical structure of the robot, on the environment and on the task to be performed. The robotic system is made up of a robotic arm mounted on wheeled mobile robot. Polynomial trajectory planning method is applied to generate trajectories, assigned to a real robot. The experimentations deal with motion coordination, control and task execution problems. Different ways to execute generated trajectories on a real MM (RobuTER/ULM) are tested, and several parameters influencing the movement of the system are examined.

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Authors and Affiliations

  1. Productic and Robotic Division, Centre de Développement des Technologies Avancées, Algiers, Algeria

    Isma Akli

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  1. Isma Akli
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Akli, I. Experimental Analysis of the Performance of Mobile Manipulators Executing Generalized Point-to-Point Tasks. Arab J Sci Eng 45, 2327–2339 (2020). https://doi.org/10.1007/s13369-019-03929-0

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  • DOI: https://doi.org/10.1007/s13369-019-03929-0

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