Abstract
This paper proposes a control strategy for a mobile manipulator to avoid singular configuration when the manipulator contacts the unknown object. In this study, the pushing task, which includes three motion: approaching, touching and pushing against the object, is assumed. The proposed method introduces adjustable gain to avoid the singular configuration under the pushing task even if the target object is changed. Numerical and experimental results show the effectiveness of the proposed approach.
| Original language | English |
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| Pages | 1327-1331 |
| Number of pages | 5 |
| Publication status | Published - 1997 |
| Event | Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA Duration: 1997 Nov 9 → 1997 Nov 14 |
Other
| Other | Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) |
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| City | New Orleans, LA, USA |
| Period | 97/11/9 → 97/11/14 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering