论文标题
通过不稳定的自行车底平台协调移动操作的姿势控制
Coordinated Pose Control of Mobile Manipulation with an Unstable Bikebot Platform
论文作者
论文摘要
Bikebot操纵具有单轨机器人移动性和操纵灵活性的优点。我们通过固定的自行车对移动操作进行了协调的姿势控制。自行车机器人操纵的挑战包括操纵器的不稳定自行车机器人的转向平衡能力有限。我们首先介绍转向平衡模型，以分析和探索最大转向能力，以平衡固定平台。然后提出平衡平衡歧管，以描述实现最终效果的同时平台平衡和姿势控制的必要条件。提出了协调的计划和控制设计，以确定运动学和动态约束下的平衡优先姿势控制。进行了广泛的实验，以证明农业应用中自动植物检查的机电设计。结果证实了使用自行车机械操作的可行性，用于分别约为5 mm和0.3 dgs的植物检查和方向误差的植物检查。
Bikebot manipulation has advantages of the single-track robot mobility and manipulation dexterity. We present a coordinated pose control of mobile manipulation with the stationary bikebot. The challenges of the bikebot manipulation include the limited steering balance capability of the unstable bikebot and kinematic redundancy of the manipulator. We first present the steering balance model to analyze and explore the maximum steering capability to balance the stationary platform. A balancing equilibrium manifold is then proposed to describe the necessary condition to fulfill the simultaneous platform balance and posture control of the end-effector. A coordinated planning and control design is presented to determine the balance-prioritized posture control under kinematic and dynamic constraints. Extensive experiments are conducted to demonstrate the mechatronic design for autonomous plant inspection in agricultural applications. The results confirm the feasibility to use the bikebot manipulation for a plant inspection with end-effector position and orientation errors about 5 mm and 0.3 degs, respectively.
