A motion control of mobile manipulator with external force

被引：38

作者：

Inoue, F ^{[1
]}

Murakami, T ^{[1
]}

Ohnishi, K ^{[1
]}

机构：

[1] Keio Univ, Dept Syst Design Engn, Ohonishi Murakami Lab, Yokohama, Kanagawa 2238522, Japan

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2001年 / 6卷 / 02期

关键词：

acceleration limit; disturbance observer; external force; mobile manipulator; smooth and stable motion;

D O I：

10.1109/3516.928727

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes a stable motion control of a mobile manipulator with the consideration of external force. As is well known, the mobile manipulator has infinite motion area, which brings several sophisticated advantages to the manipulator control. However, the unexpected external force to the mobile manipulator makes its motion unstable since there are no fixed points in the stationary coordinate. To obtain the stable motion independently of the external force, the cooperative control of the manipulator and vehicle parts is strongly required. To address the above issue, this paper presents a stable control strategy for mobile manipulator in case eternal force exists. The validity of the proposed method is confirmed by several experimental results.

引用

页码：137 / 142

页数：6

共 4 条

[1]

[Anonymous], 1993, J ROBOTICS SOC JAPAN

[2]

HUANG Q, 1994, IROS '94 - INTELLIGENT ROBOTS AND SYSTEMS: ADVANCED ROBOTIC SYSTEMS AND THE REAL WORLD, VOLS 1-3, P839, DOI 10.1109/IROS.1994.407542

[3]

Inoue K, 1996, IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, P721, DOI 10.1109/IROS.1996.571042

[4]

YAMAMOTO Y, 1994, IEEE INT CONF ROBOT, P2187, DOI 10.1109/ROBOT.1994.350960

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