A motion control of two-wheels driven mobile manipulator for human-robot cooperative transportation

Kohei Nozaki, Toshiyuki Murakami

Research output: Contribution to conferencePaper

Abstract

This paper proposes a control method for humanrobot cooperative transportation using two-wheels driven mobile manipulator. In the past, most of the robots which aim at cooperation with human had three or more wheels, and there is a possibility that their mobility is insufficient for human environment. Two-wheels driven mobile manipulator has excellent mobility and can realize rapid and smooth motion such as turning instantly. It has different motion characteristics depending on the configuration, because of the nonholonomic constraint of the mobile platform. And, there is a trade-off between the robot's mobility and the robot's stability. In this paper, to the above mentioned problem, we propose a method of configuration control of the mobile platform by setting the manipulability measure as a performance index. In the proposed method, by maximizing or minimizing the performance index depending on the situation, mobility and stability of the mobile platform in the cooperative transportation is controlled.

Original languageEnglish
Pages1574-1579
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Nozaki, K., & Murakami, T. (2009). A motion control of two-wheels driven mobile manipulator for human-robot cooperative transportation. 1574-1579. Paper presented at 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5414734