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Proceedings Paper

New approach for motion coordination of a mobile manipulator using fuzzy behavioral algorithms
Author(s): Kurt Haeusler; Erich Peter Klement; Gerfried Zeichen
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Paper Abstract

In this paper a new approach for the coordination of the motion axes of a mobile manipulator based on fuzzy behavioral algorithms and its implementation on a physical demonstrator is presented. The kinematic redundancy of the overall system (consisting of a 7 DOF manipulator and a 3 DOF mobile robot) will be used for autonomous and reactive motion of the mobile manipulator within poorly structured and even dynamically changing surroundings. Sensors around the mobile and along the manipulator will provide the necessary information for navigation purposes and perception of the environment.

Paper Details

Date Published: 9 October 1998
PDF: 9 pages
Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); doi: 10.1117/12.327002
Show Author Affiliations
Kurt Haeusler, Profactor Research GmbH (Austria)
Erich Peter Klement, Univ. of Linz (Austria)
Gerfried Zeichen, Technical Univ. of Vienna (Austria)

Published in SPIE Proceedings Vol. 3523:
Sensor Fusion and Decentralized Control in Robotic Systems
Paul S. Schenker; Gerard T. McKee, Editor(s)

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