Dynamically Decoupling Base And End-Effector Motion For Mobile Manipulation Using Visual-Inertial Sensing
2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)(2017)
摘要
In this work we present a co-located task space sensing and control system designed to control the end-effector motion of a mobile manipulator in the presence of dynamic and unknown base motion. We present a method for generating end-effector motion estimates at 1 kilohertz for use in real time control through visual-inertial sensor fusion. We show that a Moving Horizon Estimator outperforms Kalman filter-based methods in generating accurate predictive estimates for use in real time. We use this estimator to close a task space control loop directly at the end-effector, assuming no prior knowledge of the base pose and motion. We demonstrate the performance of this system on a hydraulically actuated arm which performs task-space tracking tasks in the presence of significant unknown base motion.
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关键词
visual-inertial sensor fusion,time control,mobile manipulator,co-located task space sensing,visual-inertial sensing,mobile manipulation,end-effector motion,task-space tracking tasks,task space control loop,Moving Horizon Estimator,frequency 1.0 kHz
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