Software and hardware developments for a mobile manipulator control

Abstract EN

In this paper, we present the hardware and software architectures of an experimental real time control system of a mobile manipulator that performs tasks of manipulating objects in an environment of a large space.

The mechanical archi-tecture is a manipulator arm mounted on a mobile platform.

In this work we show how one can implement an imbedded sys-tem, which includes the hardware and the software.

The system makes use of a PC as the host and constitutes the high level layer.

It is configured in such a way that it performs all the input-output interface operations ; and is composed of different modules that constitute the software making up the required operations to be executed in a scheduling manner in order to meet the requirements of the real time control.

In this paper, we also focus on the development of the generalized trajecto-ry generation for the case of tasks where only one subsystem is considered to move and when the whole system is in per-manent movement to achieve a particular task either in a free environment, or in presence of obstacles.