Motion control of mobile manipulator with external force

Fumiaki Inoue, Toshiyuki Murakami, Kouhei Ohnishi

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

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
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherIEEE
Pages98-103
Number of pages6
Publication statusPublished - 2000

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Motion control
Manipulators

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Inoue, F., Murakami, T., & Ohnishi, K. (2000). Motion control of mobile manipulator with external force. In International Workshop on Advanced Motion Control, AMC (pp. 98-103). IEEE.

Motion control of mobile manipulator with external force. / Inoue, Fumiaki; Murakami, Toshiyuki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. IEEE, 2000. p. 98-103.

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

Inoue, F, Murakami, T & Ohnishi, K 2000, Motion control of mobile manipulator with external force. in International Workshop on Advanced Motion Control, AMC. IEEE, pp. 98-103.
Inoue F, Murakami T, Ohnishi K. Motion control of mobile manipulator with external force. In International Workshop on Advanced Motion Control, AMC. IEEE. 2000. p. 98-103
Inoue, Fumiaki ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Motion control of mobile manipulator with external force. International Workshop on Advanced Motion Control, AMC. IEEE, 2000. pp. 98-103
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