A learning paradigm for motion control of mobile manipulators

Foudil Abdessemed; Eric Monacelli; Khier Benmahammed

International Journal of Applied Mathematics and Computer Science (2006)

  • Volume: 16, Issue: 4, page 475-484
  • ISSN: 1641-876X

Abstract

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Motion control of a mobile manipulator is discussed. The objective is to allow the end-effector to track a given trajectory in a fixed world frame. The motion of the platform and that of the manipulator are coordinated by a neural network which is a kind of graph designed from the kinematic model of the system. A learning paradigm is used to produce the required reference variables for each of the mobile platform and the robot manipulator for an overall coordinate behavior. Simulation results are presented to show the effectiveness of the proposed scheme.

How to cite

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Abdessemed, Foudil, Monacelli, Eric, and Benmahammed, Khier. "A learning paradigm for motion control of mobile manipulators." International Journal of Applied Mathematics and Computer Science 16.4 (2006): 475-484. <http://eudml.org/doc/207807>.

@article{Abdessemed2006,
abstract = {Motion control of a mobile manipulator is discussed. The objective is to allow the end-effector to track a given trajectory in a fixed world frame. The motion of the platform and that of the manipulator are coordinated by a neural network which is a kind of graph designed from the kinematic model of the system. A learning paradigm is used to produce the required reference variables for each of the mobile platform and the robot manipulator for an overall coordinate behavior. Simulation results are presented to show the effectiveness of the proposed scheme.},
author = {Abdessemed, Foudil, Monacelli, Eric, Benmahammed, Khier},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {obstacle avoidance; backpropagation; neural network; mobile manipulator},
language = {eng},
number = {4},
pages = {475-484},
title = {A learning paradigm for motion control of mobile manipulators},
url = {http://eudml.org/doc/207807},
volume = {16},
year = {2006},
}

TY - JOUR
AU - Abdessemed, Foudil
AU - Monacelli, Eric
AU - Benmahammed, Khier
TI - A learning paradigm for motion control of mobile manipulators
JO - International Journal of Applied Mathematics and Computer Science
PY - 2006
VL - 16
IS - 4
SP - 475
EP - 484
AB - Motion control of a mobile manipulator is discussed. The objective is to allow the end-effector to track a given trajectory in a fixed world frame. The motion of the platform and that of the manipulator are coordinated by a neural network which is a kind of graph designed from the kinematic model of the system. A learning paradigm is used to produce the required reference variables for each of the mobile platform and the robot manipulator for an overall coordinate behavior. Simulation results are presented to show the effectiveness of the proposed scheme.
LA - eng
KW - obstacle avoidance; backpropagation; neural network; mobile manipulator
UR - http://eudml.org/doc/207807
ER -

References

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