New approach for motion coordination of a mobile manipulator using fuzzy behavioral algorithms

Kurt Haeusler; Erich Peter Klement; Gerfried Zeichen

doi:10.1117/12.327002

9 October 1998 New approach for motion coordination of a mobile manipulator using fuzzy behavioral algorithms

Kurt Haeusler, Erich Peter Klement, Gerfried Zeichen

Proceedings Volume 3523, Sensor Fusion and Decentralized Control in Robotic Systems; (1998) https://doi.org/10.1117/12.327002
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

In this paper a new approach for the coordination of the motion axes of a mobile manipulator based on fuzzy behavioral algorithms and its implementation on a physical demonstrator is presented. The kinematic redundancy of the overall system (consisting of a 7 DOF manipulator and a 3 DOF mobile robot) will be used for autonomous and reactive motion of the mobile manipulator within poorly structured and even dynamically changing surroundings. Sensors around the mobile and along the manipulator will provide the necessary information for navigation purposes and perception of the environment.

Citation Download Citation

Kurt Haeusler, Erich Peter Klement, and Gerfried Zeichen "New approach for motion coordination of a mobile manipulator using fuzzy behavioral algorithms", Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); https://doi.org/10.1117/12.327002

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