Configuration control of a mobile manipulator in pushing operation

Daisuke Nakamura, Toshiyuki Murakami, Kouhhei Ohnishi

Research output: Contribution to conferencePaper

5 Citations (Scopus)

Abstract

A mobile manipulator in this study consists of two subsystems, which are a wheeled mobile robot and a manipulator arm. These systems have different dynamic 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 be regarded as a redundant manipulator. In the proposed approach, realizing an optimal configuration control according to the desired task, the redundancy of the proposed system is utilized under consideration of the dynamical behavior of the mobile manipulator. The task is `pushing operation' to accomplish the movement of an object from one place to the desired arrangement. Several experimental results show the effectiveness of the proposed method.

Original languageEnglish
Pages446-450
Number of pages5
Publication statusPublished - 1998 Dec 1
EventProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC - Coimbra, Portugal
Duration: 1998 Jun 291998 Jul 1

Other

OtherProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC
CityCoimbra, Portugal
Period98/6/2998/7/1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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    Nakamura, D., Murakami, T., & Ohnishi, K. (1998). Configuration control of a mobile manipulator in pushing operation. 446-450. Paper presented at Proceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC, Coimbra, Portugal, .