Controle com Restrição de Manipulador Móvel para Tarefas de Inspeção em Ambiente Industrial

Abstract

Many practical industrial applications performed by robotic manipulators demand movement limitation in order to avoid any structural damage and/or colisions. This paper presents a kinematic control scheme for end-effector motion of a redundant mobile manipulator with a constrained robotic chain. The proposed kinematic control is based on the Constrained Jacobian. The main advantage of the proposed approach is that it provides full task space motion while guarantees that a point of the kinematic chain avoids any lateral motion using a conventional operational space control scheme. Experimental results are presented considering a redundant manipulator mounted on a mobile robot developed for industrial plant inspections. These results show the viability of the proposed planning and control schemes.