Configuration control of a mobile manipulator in pushing operation

Daisuke Nakamura, Toshiyuki Murakami, Kouhhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Editors Anon
PublisherIEEE
Pages446-450
Number of pages5
Publication statusPublished - 1998
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

Fingerprint

Manipulators
Mobile robots
Redundant manipulators
Redundancy
Planning

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nakamura, D., Murakami, T., & Ohnishi, K. (1998). Configuration control of a mobile manipulator in pushing operation. In Anon (Ed.), International Workshop on Advanced Motion Control, AMC (pp. 446-450). IEEE.

Configuration control of a mobile manipulator in pushing operation. / Nakamura, Daisuke; Murakami, Toshiyuki; Ohnishi, Kouhhei.

International Workshop on Advanced Motion Control, AMC. ed. / Anon. IEEE, 1998. p. 446-450.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakamura, D, Murakami, T & Ohnishi, K 1998, Configuration control of a mobile manipulator in pushing operation. in Anon (ed.), International Workshop on Advanced Motion Control, AMC. IEEE, pp. 446-450, Proceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC, Coimbra, Portugal, 98/6/29.
Nakamura D, Murakami T, Ohnishi K. Configuration control of a mobile manipulator in pushing operation. In Anon, editor, International Workshop on Advanced Motion Control, AMC. IEEE. 1998. p. 446-450
Nakamura, Daisuke ; Murakami, Toshiyuki ; Ohnishi, Kouhhei. / Configuration control of a mobile manipulator in pushing operation. International Workshop on Advanced Motion Control, AMC. editor / Anon. IEEE, 1998. pp. 446-450
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