An Autonomous Hydraulic Mobile Manipulator Control System for Steel Manufacture

In steel processing industry, dust, noise and other factors seriously threaten the health of operators. Aiming at solving these problems, an autonomous hydraulic mobile manipulator system is designed and developed in this paper. The system consists of four modules, namely kinematic modeling module, decision making and planning module, control module and virtual reconstruction module. According to the functions realized in the system, mobile manipulator can move from any initial position to the target position and complete the corresponding tasks. Moreover, the vadility and effectiveness of the autonomous hydraulic mobile manipulator system for steel manufacture are verified by experiments.