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    Vyacheslav Shestakov

    Vyacheslav Shestakov
    ul. Studencheskaya 7, Izhevsk, 426069, Russia
    M.T.Kalashnikov Izhevsk State Technical University


    Karavaev Y. L., Shestakov V. A., Yefremov K. S.
    This paper presents experimental investigations of the control algorithm of a highly maneuverable mobile manipulation robot. The kinematics of a mobile manipulation robot, the algorithm of trajectory planning of the mobile robot to the point of object gripping are considered. By realization of the algorithm, the following tasks are solved: solution of the inverse positional task for the mobile manipulation robot; motion planning of the mobile manipulator taking into account the minimization of energy and time consumption per movement. The result of the algorithm is a movement to the point of gripping of the manipulation object; grasping and loading of the object. Experimental investigations of the developed algorithms are given.
    Keywords: mobile manipulation robot, motion planning, trajectory discretization, Kinect
    Citation: Karavaev Y. L., Shestakov V. A., Yefremov K. S.,  Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot, Rus. J. Nonlin. Dyn., 2019, Vol. 15, no. 4, pp.  487-495

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