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Simulation of various control strategies for a mobile manipulator

Abstract : This paper concerns the performance comparison of different control structures based on various sensors for an agricultural mobile manipulator. The robot's mobile platform is continuously advancing pulled by a tractor, while the manipulator executes local tasks. Therefore, an existing prototype has been entirely modelled which allowed us to test each control structure using a dynamic simulator. The simulation results permit to identify the best control structure for the given constraints.
Mots-clés : CEMAGREF GEMO
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Conference papers
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https://hal.inrae.fr/hal-02581939
Contributor : Migration Irstea Publications <>
Submitted on : Thursday, May 14, 2020 - 9:25:54 PM
Last modification on : Tuesday, March 9, 2021 - 5:09:31 PM

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  • HAL Id : hal-02581939, version 1
  • IRSTEA : PUB00012362

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Pierre Thompson, Gilles Rabatel, François Pierrot, Alain Liégeois, Francis Sevila. Simulation of various control strategies for a mobile manipulator. 14th IASTED International Conference on Modelling, Indentification and Control, Feb 1995, Igls, Austria. pp.327-330. ⟨hal-02581939⟩

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