Tip Localization Analysis for Mobile Manipulator in Construction Field

Abstract

For the requirements of automation, especially robot-based automation in the domain of construction, a mobile manipulator for the application on construction sites in semi-structured environment is presented in this paper. The kinematics of each component of the system is analyzed. In two different cases, sensor fusion method and hybrid force position control method are presented to implement the tip localization of the mobile manipulator. The experiment shows that the studied mobile manipulator can accomplish the on-site work discussed in this paper.