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Specification of operations for a manipulator on a mobile robot using grafcet
M. A. Martínez, J. L. Martínez
Journal:

Robotica / Volume 23 / Issue 6 / November 2005

Published online by Cambridge University Press:

10 November 2005, pp. 789-791
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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.