Mobile manipulator and method of controlling the same
AssigneeElectronics and Telecommunications Research Institute
InventorsWookyong KWON, Yongsik JIN, Dongyeop KANG, Seung Woo NAM, Jeyoun DONG
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Abstract
Provided is a mobile manipulator for performing a target motion, which includes a base unit configured to perform a positional shift and having a rail in some section thereof, and an arm unit including multi-joints and configured to perform a positional shift on the rail in consideration of a center of gravity when performing a target motion. The arm unit performs the target motion through adaptive neural network-based compensation control.
Claims20
A mobile manipulator for performing a target motion, the mobile manipulator comprising:
- a base unit configured to perform a positional shift and having a rail in some section thereof;
- and
- an arm unit including multi-joints and configured to perform a positional shift on the rail in consideration of a center of gravity when performing a target motion,
- wherein the arm unit performs the target motion through adaptive neural network-based compensation control.
A mobile manipulator comprising:
- a base unit configured to perform a positional shift;
- an arm unit configured to perform a positional shift in some section of the base unit;
- and
- a control unit configured to control driving of the base unit and the arm unit,
- wherein the control unit controls a target motion of the arm unit through adaptive neural network-based compensation control in consideration of a payload of the arm unit.
A method of controlling a mobile manipulator, the method comprising:
- setting a target motion of a mobile manipulator including a base unit provided to be movable and an arm unit including a multi-joint and configured to perform a positional shift on an upper end of the base unit;
- and
- controlling the target motion of the mobile manipulator.
Dependencies are inferred from the claim text.