Experimental comparison of hybrid and external control structures for a mobile manipulator

被引:0
|
作者
Perrier, C
Cellier, L
Dauchez, P
机构
关键词
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
A mobile manipulator, composed of a manipulator mounted on a vehicle, is a very useful system to achieve tasks in dangerous environments. Unfortunately it is a very complicated system to model and control. One solution is to control the manipulator and the vehicle independently with advanced control schemes. In particular motions of the vehicle on uneven terrains induce disturbances on the arm behavior that must be either taken into account or rejected by the arm control scheme. The aim of this paper is to compare the robustness of hybrid position/force and external force control structures with respect to external disturbances, for a manipulator mounted on a vehicle. The principles of both control structures are recalled. Some theoretical analysis tends to prove the superiority of the external control structure. This is confirmed by experiments with our real testbed. Results are presented in the form of graphs.
引用
收藏
页码:3577 / 3582
页数:6
相关论文
共 50 条
  • [1] A motion control of mobile manipulator with external force
    Inoue, F
    Murakami, T
    Ohnishi, K
    6TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS, 2000, : 98 - 103
  • [2] A motion control of mobile manipulator with external force
    Inoue, F
    Murakami, T
    Ohnishi, K
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2001, 6 (02) : 137 - 142
  • [3] Impedance control of mobile manipulator with the stability to external force
    Inoue, K
    Miyamoto, T
    Okawa, Y
    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, 1996, : 721 - 728
  • [4] Verification hybrid control of a wheeled mobile robot and manipulator
    Muszynska, Magdalena
    Burghardt, Andrzej
    Kurc, Krzysztof
    Szybicki, Dariusz
    OPEN ENGINEERING, 2016, 6 (01): : 64 - 72
  • [5] A hybrid system design of a mobile manipulator
    Chang, Chih-Fu
    Fu, Li-Chen
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 406 - +
  • [6] Kinematic Control of a Mobile Manipulator
    Deepak, B. B. V. L.
    Parhi, Dayal R.
    Praksh, Ravi
    PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON SIGNAL, NETWORKS, COMPUTING, AND SYSTEMS (ICSNCS 2016), VOL 2, 2016, 396 : 339 - 346
  • [7] Dynamic control of a mobile manipulator
    Furtwängler, R
    Hanebeck, UD
    Schmidt, G
    1998 5TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL - PROCEEDINGS: AMC '98 - COIMBRA, 1998, : 440 - 445
  • [8] Modeling and control of a mobile manipulator
    Chung, JH
    Velinsky, SA
    ROBOTICA, 1998, 16 : 607 - 613
  • [9] Modeling and control of a mobile manipulator
    Univ of California at Davis, Davis, United States
    Robotica, pt 6 (607-613):
  • [10] Control of a mobile manipulator with uncertainties
    Tahboub, KA
    ROBOT CONTROL 1997, VOLS 1 AND 2, 1998, : 235 - 240