A motion control of two-wheels driven mobile manipulator for human-robot cooperative transportation

Kohei Nozaki, Toshiyuki Murakami

研究成果: Paper査読

12 被引用数 (Scopus)

抄録

This paper proposes a control method for humanrobot cooperative transportation using two-wheels driven mobile manipulator. In the past, most of the robots which aim at cooperation with human had three or more wheels, and there is a possibility that their mobility is insufficient for human environment. Two-wheels driven mobile manipulator has excellent mobility and can realize rapid and smooth motion such as turning instantly. It has different motion characteristics depending on the configuration, because of the nonholonomic constraint of the mobile platform. And, there is a trade-off between the robot's mobility and the robot's stability. In this paper, to the above mentioned problem, we propose a method of configuration control of the mobile platform by setting the manipulability measure as a performance index. In the proposed method, by maximizing or minimizing the performance index depending on the situation, mobility and stability of the mobile platform in the cooperative transportation is controlled.

本文言語English
ページ1574-1579
ページ数6
DOI
出版ステータスPublished - 2009 12月 1
イベント35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
継続期間: 2009 11月 32009 11月 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
国/地域Portugal
CityPorto
Period09/11/309/11/5

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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