A Cooperative Task with Vehicle and Arm in a Mobile Manipulator

Takahiro Yakoh, Daisuke Nakamura

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper proposes position and force hybrid control of a mobile manipulator to cooperate with its subsystems which are a wheeled mobile robot and a manipulator arm. These subsystems have different dynamical characteristics. Moreover, a wheeled mobile robot is subject to nonholonomic constraints. In general, these issues are taken into consideration in developing a planning and control algorithm. This paper describes a unified approach to control a mobile manipulator which can regarded as a redundant manipulator. In the proposed approach, realizing the high manipulability of the end-effector's motion, the redundancy of the whole system is utilized under consideration of the dynamical behavior. Then equivalent mass matrix is introduced as a performance index of the end-effector's dynamical motion. The effectiveness of the proposed control methods is confirmed by several experimental results.

Original languageEnglish
Pages (from-to)377-382
Number of pages6
JournalIEEJ Transactions on Industry Applications
Volume121
Issue number3
DOIs
Publication statusPublished - 2001

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Manipulators
End effectors
Mobile robots
Redundant manipulators
Redundancy
Planning

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Cite this

A Cooperative Task with Vehicle and Arm in a Mobile Manipulator. / Yakoh, Takahiro; Nakamura, Daisuke.

In: IEEJ Transactions on Industry Applications, Vol. 121, No. 3, 2001, p. 377-382.

Research output: Contribution to journalArticle

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