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Control of an automated mobile manipulator using artificial immune system

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This paper addresses the coordination and control of a wheeled mobile manipulator (WMM) using artificial immune system. The aim of the developed methodology is to navigate the system autonomously and transport jobs and tools in manufacturing environments. This study integrates the kinematic structures of a four-axis manipulator and a differential wheeled mobile platform. The motion of the developed WMM is controlled by the complete system of parametric equation in terms of joint velocities and makes the robot to follow desired trajectories by the manipulator and platform within its workspace. The developed robot system performs its action intelligently according to the sensed environmental criteria within its search space. To verify the effectiveness of the proposed immune-based motion planner for WMM, simulations as well as experimental results are presented in various unknown environments.
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Keywords: Wheeled mobile manipulator; artificial immune system; manufacturing environment; velocity Jacobean

Document Type: Research Article

Affiliations: 1: Automation Laboratory, Department of Industrial Design, National Institute of Technology, Rourkela, India 2: Robotics Laboratory, Department of Mechanical Engineering, National Institute of Technology, Rourkela, India

Publication date: March 3, 2016

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