A Mobile Manipulator Controller Implemented in the Robot Operating System
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 8Language: englishTyp: PDF
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Authors:
Barros, Taiser Tadeu Teixeira (SENAI-RS, Santa Cruz, RS, Brazil)
Fetter Lages, Walter (Universidade Federal do Rio Grande do Sul, Porto Alegre, RS, Brazil)
Abstract:
This work presents the development of mathematical model of a mobile manipulator and its use to develop a controller based on backstepping nonlinear control and the computed torque control law. This MIMO nonlinear controller was implemented on the Robot Operating System (ROS) environment. The mobile robot is based on the Barrett WAM (Whole Arm Manipulator) and a custom build mobile platform. The dynamic modeling is used to ensure better performance of the controller.