Hybrid position/force control of a mobile manipulator based on cooperative task sharing

Yasutaka Umeda, Daisuke Nakamura, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

15 被引用数 (Scopus)

抄録

This paper proposes a hybrid position/force control of a mobile manipulator to cooperate with its subsystems that consist of a wheeled mobile robot and a manipulator arm. These subsystems 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 motion of end-effector, the redundancy of the proposed system is utilized under consideration of the dynamical behavior of the mobile manipulator. Several experimental results show the effectiveness of the proposed method.

本文言語English
ページ139-144
ページ数6
出版ステータスPublished - 1999 12 1
イベントProceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99) - Bled, Slovenia
継続期間: 1999 7 121999 7 16

Other

OtherProceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99)
CityBled, Slovenia
Period99/7/1299/7/16

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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