Control system of a mobile robot manipulator

Abstract

The paper presents a practical implementation of a complex control system of a manipulator arm mounted on a mobile robot, controlled remotely by a human operator. Described is the mechanical construction and parameters of the manipulator, the overall structure of the control system and then in more detail also several software modules which were designed to aid the operator - including inverse kinematics and an anti-collision system. The control system is universal and has already been applied to several types of mobile manipulators.