Motion control strategy of mobile manipulator in contact task

Osamu Kawaguchi, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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 languageEnglish
Pages1327-1331
Number of pages5
Publication statusPublished - 1997 Dec 1
EventProceedings 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 91997 Nov 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
CityNew Orleans, LA, USA
Period97/11/997/11/14

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kawaguchi, O., Murakami, T., & Ohnishi, K. (1997). Motion control strategy of mobile manipulator in contact task. 1327-1331. Paper presented at Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, .