Motion control strategy of mobile manipulator in contact task

Osamu Kawaguchi, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper

5 引用 (Scopus)

抜粋

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.

元の言語English
ページ1327-1331
ページ数5
出版物ステータスPublished - 1997 12 1
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 91997 11 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
New Orleans, LA, USA
期間97/11/997/11/14

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

Kawaguchi, O., Murakami, T., & Ohnishi, K. (1997). Motion control strategy of mobile manipulator in contact task. 1327-1331. 論文発表場所 Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, .