Dynamic catch for mobile manipulator based on Kalman filter
                                                   WANG Zhaoquan, WU Haibin, YE Jinhua, XU Jinshan
                           (School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China)

Abstract: Aiming at the problem of realizing the dynamic catch application about traffic cones automatic extraction& placement system, the prediction of cone position, the catch strategies of manipulator were researched, and traffic cone dynamic catch method which based on Kalman filter and cones position servo control was proposed. The relative motion model of cone was established. To compensate for the lag of the system during dynamic catch, the Kalman filter algorithm was adopted in the prediction of cone position. To establish the servo control model which based on cones position, the vector product method was used to construct the manipulators Jacobian matrix.By this,two moving stages of the manipulator were proposed for the different cones distances. Finally,by the method of velocity compensation, traffic cone was caught by manipulator during the mobile process. An experimental platform was built to validate the proposed method. The results indicate that the dynamic catch method can effectively improves the tracking accuracy of the manipulator, and it avoids the direct collision between cones and manipulator ,and makes the whole catch process more stable.

Key words: traffic cone; mobile manipulator; Kalman filtering; position servo; dynamic catch