Real Time System Design for a Mobile Manipulator

Oscar Fernando Aviles Sánchez, Mauricio Felipe Mauledoux Monroy, Oscar Gerardo Ribiano, Angie Julieth Valencia

Abstract


A mobile manipulator is defined as a mechanism composed by a serial manipulator located just above robotic platform. Besides, is a system with kinematic restrictions determined by an independent movement of the wheels and the degrees of freedom of the manipulator arm. The combination of the previous systems increases the advantages in terms of maneuverability, efficiency, range, between others. Another advantage of manipulator robot is the larger working space when it moves over a mobile platform allowing to reach different position on XY cartesian plane. Therefore, the design of a real-time system for a mobile manipulator will be shown in this paper.

Keywords


Direct Kinematics, Electronic design, Inverse kinematics, Mobile manipulator, Real-time system, Robotic system

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International Journal of Online Engineering (iJOE) – eISSN: 1861-2121
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