Control of a mobile manipulator based on equivalent mass matrix

Koji Shibata, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

8 被引用数 (Scopus)

抄録

This paper describes a novel method to control a mobile manipulator of which working direction is restricted along the moving direction. In our method, equivalent mass matrix (EMM) is applied as an index to determine the robot motion performance. In general, manipulability measure is often used as an index of the high performance motion, because the value of manipulability measure shows the higher manipulation balanced in the whole direction. In some motion task, however, the robot has the restriction of the working direction and it is required to get the higher performance along the target direction intensively. In the proposed method, the application of the EMM realizes the higher manipulation along only a specified direction.

本文言語English
ページ1330-1335
ページ数6
出版ステータスPublished - 1995 12 1
イベントProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) - Orlando, FL, USA
継続期間: 1995 11 61995 11 10

Other

OtherProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2)
CityOrlando, FL, USA
Period95/11/695/11/10

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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