Document
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Continuant
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International Journal of Robotics Research
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type: Continuant
publication venue for: Vision-based control of a mobile base and on-board arm
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type: Journal
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RDF description of Vision-based control of a mobile base and on-board arm - http://orbis.uaslp.mx/vivo/individual/scopus1231
rights: termsOfUse
date: 2026-08-27T20:21:16
publisher: vivo
type: Document

Article
type: Class

Vision-based control of a mobile base and on-board arm
freetext keyword: Camera space manipulation; Kalman filter; Machine vision; Mobile manipulators; Mobile robots Degrees of freedom (mechanics); Kalman filtering; Manipulators; Mobile robots; Position control; Robotic arms; Video cameras; Extended Kalman filtering; Mobile camera-space manipulation; Mobile manipulators; Vision-based control; Computer vision
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related by: authorship 7231
most specific type: Document
related by: authorship 7232
type: Thing
related by: authorship 7233
volume: 22
date time value: article date 1232
related by: authorship 7234
abstract: In this paper we present a new methodology to achieve vision-based control using a mobile manipulator to reach a required three-dimensional target position and orientation. Examples of mobile manipulators include standard forklifts and backhoes, which have a fixed manipulator mounted on a mobile platform. The overall objective of this methodology is to apply the nonholonomic degrees of freedom represented by two independently driven wheels together with the holonomic dexterity of the on-board arm in order to bring about a desired positioning objective for the arm. Mobile Camera-Space Manipulation and an extended Kalman filter are implemented to use a minimum number of holonomic and nonholonomic degrees of freedom as required for the end member of the on-board arm to achieve a target position and orientation. We present this vision-based method to control mobile manipulators as an alternative to methods such as visual servoing and calibration (i.e., stereo approaches). This new approach only requires a minimum number of holonomic degrees of freedom to achieve the required three-dimensional positioning by taking full advantage of the nonholonomic degrees of freedom. Experimentally, the method shows itself to be robust to errors in the nominal kinematics and the optics models, as demonstrated by the experimental tests.
issue: 9
crisid: 1232
e iscopus: 2-s2.0-18744419985
doi: 10.1177/027836403128965295
type: Information Content Entity
has publication venue: International Journal of Robotics Research
page end: 698
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estado: published
type: Generically Dependent Continuant
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origen: scopus
page start: 677

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