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Motion coordination of a mobile manipulator within control framework: application to phenotyping

Abstract : The aim of this paper is to define a weighting function to achieve a coordinated control of both parts of a mobile manipulator. The function presented here depends on the desired location of the end-effector with respect to the workspace of the robotic arm. The objective is to optimize the workspace of the manipulator, such that phenotyping can be executed without further motion of the mobile base. Experimental results are presented, carried out on a system composed of a 6-dof robotic arm and a gantry.
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Conference papers
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https://hal.inrae.fr/hal-02609304
Contributor : Migration Irstea Publications <>
Submitted on : Saturday, May 16, 2020 - 5:36:07 PM
Last modification on : Tuesday, September 7, 2021 - 3:54:55 PM

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  • HAL Id : hal-02609304, version 1
  • IRSTEA : PUB00061345

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C. Dubos, R. Lenain, Frédéric Cointault, N. Bouton. Motion coordination of a mobile manipulator within control framework: application to phenotyping. 22nd CISM-IFToMM symposium on theory and practice of robots and manipulators, Jun 2018, Rennes, France. pp.230-237. ⟨hal-02609304⟩

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