Hybrid position/force control of a mobile manipulator based on cooperative task sharing

Yasutaka Umeda, Daisuke Nakamura, Toshiyuki Murakami, Kouhei Ohnishi

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

15 Citations (Scopus)

Abstract

This paper proposes a hybrid position/force control of a mobile manipulator to cooperate with its subsystems that consist of a wheeled mobile robot and a manipulator arm. These subsystems 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 motion of end-effector, the redundancy of the proposed system is utilized under consideration of the dynamical behavior of the mobile manipulator. Several experimental results show the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationIEEE International Symposium on Industrial Electronics
PublisherIEEE
Pages139-144
Number of pages6
Volume1
Publication statusPublished - 1999
EventProceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99) - Bled, Slovenia
Duration: 1999 Jul 121999 Jul 16

Other

OtherProceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99)
CityBled, Slovenia
Period99/7/1299/7/16

Fingerprint

Force control
Position control
Manipulators
Mobile robots
Redundant manipulators
End effectors
Redundancy
Planning

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Umeda, Y., Nakamura, D., Murakami, T., & Ohnishi, K. (1999). Hybrid position/force control of a mobile manipulator based on cooperative task sharing. In IEEE International Symposium on Industrial Electronics (Vol. 1, pp. 139-144). IEEE.

Hybrid position/force control of a mobile manipulator based on cooperative task sharing. / Umeda, Yasutaka; Nakamura, Daisuke; Murakami, Toshiyuki; Ohnishi, Kouhei.

IEEE International Symposium on Industrial Electronics. Vol. 1 IEEE, 1999. p. 139-144.

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

Umeda, Y, Nakamura, D, Murakami, T & Ohnishi, K 1999, Hybrid position/force control of a mobile manipulator based on cooperative task sharing. in IEEE International Symposium on Industrial Electronics. vol. 1, IEEE, pp. 139-144, Proceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99), Bled, Slovenia, 99/7/12.
Umeda Y, Nakamura D, Murakami T, Ohnishi K. Hybrid position/force control of a mobile manipulator based on cooperative task sharing. In IEEE International Symposium on Industrial Electronics. Vol. 1. IEEE. 1999. p. 139-144
Umeda, Yasutaka ; Nakamura, Daisuke ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Hybrid position/force control of a mobile manipulator based on cooperative task sharing. IEEE International Symposium on Industrial Electronics. Vol. 1 IEEE, 1999. pp. 139-144
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