Control of a mobile manipulator based on equivalent mass matrix

Koji Shibata, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review

8 Citations (Scopus)

Abstract

This paper describes a novel method to control a mobile manipulator of which working direction is restricted along the moving direction. In our method, equivalent mass matrix (EMM) is applied as an index to determine the robot motion performance. In general, manipulability measure is often used as an index of the high performance motion, because the value of manipulability measure shows the higher manipulation balanced in the whole direction. In some motion task, however, the robot has the restriction of the working direction and it is required to get the higher performance along the target direction intensively. In the proposed method, the application of the EMM realizes the higher manipulation along only a specified direction.

Original languageEnglish
Pages1330-1335
Number of pages6
Publication statusPublished - 1995 Dec 1
EventProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) - Orlando, FL, USA
Duration: 1995 Nov 61995 Nov 10

Other

OtherProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2)
CityOrlando, FL, USA
Period95/11/695/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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