Real Time System Design for a Mobile Manipulator

Authors

  • Oscar Fernando Aviles Sánchez Universidad Militar NUeva Granada
  • Mauricio Felipe Mauledoux Monroy Universidad Militar NUeva Granada
  • Oscar Gerardo Ribiano Universidad Militar NUeva Granada
  • Angie Julieth Valencia Universidad Militar NUeva Granada

DOI:

https://doi.org/10.3991/ijoe.v14i12.9225

Keywords:

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

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.

Downloads

Published

2018-12-23

How to Cite

Aviles Sánchez, O. F., Mauledoux Monroy, M. F., Ribiano, O. G., & Valencia, A. J. (2018). Real Time System Design for a Mobile Manipulator. International Journal of Online and Biomedical Engineering (iJOE), 14(12), pp. 126–136. https://doi.org/10.3991/ijoe.v14i12.9225

Issue

Vol. 14 No. 12 (2018)

Section

Papers