Abstract
The bilateral system is expected to be a key technology for the next generation of robots. However, in previous studies, bilateral systems consisted of ground-based devices with limited workspaces. In order to solve this problem, a two-wheel driven mobile manipulator is used as a slave robot in this research. This robot has excellent mobility, and it can turn on the spot and overcome a step. However, the robot is unstable because it lacks casters. If the robot tends to be unstable, it naturally cannot achieve bilateral control. Therefore, in this study, a method that takes into considering the stability of the two-wheel driven mobile manipulator is proposed. The experimental results confirm the efficiency of the proposed method.
| Original language | English |
|---|---|
| Pages (from-to) | 771-779 |
| Number of pages | 9 |
| Journal | ieej transactions on industry applications |
| Volume | 133 |
| Issue number | 8 |
| DOIs | |
| Publication status | Published - 2013 |
Keywords
- Bilateral system
- Null space control
- Operability
- Two-Wheel driven mobile manipulator
- Underactuated mechanism
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering