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Specification of operations for a manipulator on a mobile robot using grafcet

Published online by Cambridge University Press:  10 November 2005

M. A. Martínez  and
J. L. Martínez
M. A. Martínez
Affiliation:
Dept. of System Engineering and Automation, University of Málaga, Plaza El Ejido s/n, 29013 Málaga (Spain)
J. L. Martínez
Affiliation:
Dept. of System Engineering and Automation, University of Málaga, Plaza El Ejido s/n, 29013 Málaga (Spain)
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Abstract

This technical note deals with the way of organizing the work of a manipulator on a mobile robot. Every robotic mission is composed of several navigation and manipulation operations. In this research, the robot arm actions have been sequenced, once the mobile robot has stopped, with the help of the graphical specification tool Grafcet. The proposed method has been successfully implemented in the mobile manipulator RAM-2 for transporting videotapes.

Keywords

Mobile robotGRAFCETOperationsSpecification tools
Type
Research Article
Information
Robotica , Volume 23 , Issue 6 , November 2005 , pp. 789 - 791
Copyright
© 2005 Cambridge University Press

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