A motion control of mobile manipulator with external force

Fumiaki Inoue, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Article査読

48 被引用数 (Scopus)

抄録

This paper describes a stable motion control of a mobile manipulator with the consideration of external force. As is well known, the mobile manipulator has infinite motion area, which brings several sophisticated advantages to the manipulator control. However, the unexpected external force to the mobile manipulator makes its motion unstable since there are no fixed points in the stationary coordinate. To obtain the stable motion independently of the external force, the cooperative control of the manipulator and vehicle parts is strongly required. To address the above issue, this paper presents a stable control strategy for mobile manipulator in case eternal force exists. The validity of the proposed method is confirmed by several experimental results.

本文言語English
ページ(範囲)137-142
ページ数6
ジャーナルIEEE/ASME Transactions on Mechatronics
6
2
DOI
出版ステータスPublished - 2001 6月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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