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.
|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 6 → 1995 11 10
|Other||Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2)|
|City||Orlando, FL, USA|
|Period||95/11/6 → 95/11/10|
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