Abstract
A mobile manipulator is a robotic system consisting of a mobile platform on which a manipulator arm is mounted, allowing the robotic system to perform locomotion and manipulation tasks simultaneously. A mobile manipulator has several advantages over a robot manipulator which is fixed, the main advantage is a larger workspace. The robots manipulators are oriented to work collaboratively with the human being in tasks that simultaneously require mobility and ability to interact with the environment through the manipulation of objects. This article will present the electronic design for a mobile robot manipulator with five degrees of freedom and a 6-wheel traction with four of these directional.
Highlights
A Mobile Manipulator is a system subject to its kinematic restrictions and the degrees of freedom of the manipulator arm mounted on it
Movement planning and control of these systems have attracted a lot of attention due to their usefulness
In many cases mobilizing the manipulator results in kinematic redundancy, this can be solved by coordinating the platform and the manipulator
Summary
A Mobile Manipulator is a system subject to its kinematic restrictions and the degrees of freedom of the manipulator arm mounted on it. The control of the mobile manipulators mainly includes two aspects: movement planning, both for the mobile platform and the manipulator, and the other, coordinated control of both. Once you have these two, the thing is to assign the task.
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