Motion control of mobile manipulator with external force

Fumiaki Inoue, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

This paper describes a stable motion control of a mobile manipulator against the external force. As well known, the mobile manipulator has infinite motion area, which brings a sophisticated advantage to the manipulator control. However the unexpected external force to the mobile manipulator makes its motion unstable because there is no fixed points in the stationary coordinate. To obtain the stable motion independently of the external force, a cooperative control of manipulator and vehicles is needed. This paper presents a stable control strategy of mobile manipulator with considering the eternal force. The validity of the proposed method is confirmed by several numerical and experimental results.

Original languageEnglish
Pages98-103
Number of pages6
Publication statusPublished - 2000 Dec 1

ASJC Scopus subject areas

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

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