Configuration control of a mobile manipulator in pushing operation

Daisuke Nakamura, Toshiyuki Murakami, Kouhhei Ohnishi

研究成果: Paper

5 引用 (Scopus)

抜粋

A mobile manipulator in this study consists of two subsystems, which are a wheeled mobile robot and a manipulator arm. These systems have different dynamic characteristics. Moreover, a wheeled mobile robot is subject to nonholonomic constraints. In general, these issues are taken into consideration in developing a planning and control algorithm. This paper describes a unified approach to control a mobile manipulator which can be regarded as a redundant manipulator. In the proposed approach, realizing an optimal configuration control according to the desired task, the redundancy of the proposed system is utilized under consideration of the dynamical behavior of the mobile manipulator. The task is `pushing operation' to accomplish the movement of an object from one place to the desired arrangement. Several experimental results show the effectiveness of the proposed method.

元の言語English
ページ446-450
ページ数5
出版物ステータスPublished - 1998 12 1
イベントProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC - Coimbra, Portugal
継続期間: 1998 6 291998 7 1

Other

OtherProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC
Coimbra, Portugal
期間98/6/2998/7/1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

フィンガープリント Configuration control of a mobile manipulator in pushing operation' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

    Nakamura, D., Murakami, T., & Ohnishi, K. (1998). Configuration control of a mobile manipulator in pushing operation. 446-450. 論文発表場所 Proceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC, Coimbra, Portugal, .