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This paper presents a method for controlling a two-wheeled mobile manipulator with visual servoing. There are three subsystems: stereo vision system, 10 DOF dual arm manipulator and two-wheeled mobile robot. The whole system can be seen as an inverted pendulum. When the robot reaches the stable state, the centroid of the whole system is in the perpendicular line of the central point of mobile robot...
This paper proposes a stability analysis criterion for the multiple objects handling operation of dual arm manipulator to make optimal postures. When the dual-arm manipulator grasps a fixed object to carry it to a desired location, the dual-arm manipulator should hold the object stably and efficiently without losing the control. As a performance evaluation parameter, joint torque data from current...
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