Research of Mobile Manipulator
- Platform
- Work
- Construction of Mobile Manipulator simulation environment using Gazebo.
<simulation in gazebo>
2. Dynamic control algorithm research of mobile manipulator.
<Sequential control>
<Dynamic control>
<Dynamic control algorithm Result>
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Quantitatively compared the operating time and the error of the target position of the end effector.
The proposed dynamic algorithm using MMPPE is about 45% more time efficient than the sequential control method, and the distance error is about 0.07m, maintaining high accuracy. |
3. Navigation in indoor environment