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.
|出版ステータス||Published - 1999 12月 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月 12 → 1999 7月 16
|Other||Proceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99)|
|Period||99/7/12 → 99/7/16|
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