Omnidirectional mobile manipulator control

Potreba za međudjelovanjem robota današnjice unutar neuređenih i dinamičnih okruženja zahtijeva visok stupanj pokretljivosti, kao i sposobnosti rukovanja okolnim objektima. Mobilni manipulatori povezuju mogućnosti mobilnih platformi s onima robotskih manipulatora. Za pogon takvog sustava potreban je sustav upravljanja. Unutar ovoga rada razmatra se raspodijeljeni sustav upravljanja temeljen na ROS-u. Razmatrani sustav izvršava kinematičke izračune za mobilnu platformu i robotski manipulator te omogućuje daljinsko upravljanje robotskim sustavomThe need for todays robots to interact with unstructured and dynamic environments requires superior mobility and manipulation capabilities in robotic systems. Mobile manipulators combine features of mobile platforms with those of robotic manipulators. A control system is needed to drive the joined system. Therefore, development of a ROS-based distributed control system is proposed. The proposed system handles kinematic computations of both the mobile platform and the robotic manipulator, and allows for remote system contro