Pushing operation by two-wheel inverted mobile manipulator

Koji Sasaki, Toshiyuki Murakami

研究成果: Conference contribution

21 被引用数 (Scopus)

抄録

Two-wheel inverted mobile manipulator does not have casters, which avoid the platform of a mobile robot inclining but have complicated dynamical characteristics. Therefore, this mobile manipulator can realize rapid and smooth motion, but in exchange some control is needed to avoid its platform inclining. Rotating platform is considered as a passive joint, which is not actuated. When robot perform a task in contact with environment, reaction force in end-effector acts on passive joint and platform is made inclining. This paper propose a control method for pushing operation by two-wheel inverted mobile manipulator.

本文言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ33-37
ページ数5
DOI
出版ステータスPublished - 2008 12 1
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3 262008 3 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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