Motion control strategy of mobile manipulator in contact task

Osamu Kawaguchi, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

5 被引用数 (Scopus)

抄録

This paper proposes a control strategy for a mobile manipulator to avoid singular configuration when the manipulator contacts the unknown object. In this study, the pushing task, which includes three motion: approaching, touching and pushing against the object, is assumed. The proposed method introduces adjustable gain to avoid the singular configuration under the pushing task even if the target object is changed. Numerical and experimental results show the effectiveness of the proposed approach.

本文言語English
ページ1327-1331
ページ数5
出版ステータスPublished - 1997
イベントProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA
継続期間: 1997 11月 91997 11月 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
CityNew Orleans, LA, USA
Period97/11/997/11/14

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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