A motion control of mobile manipulator with external force

被引：1

作者：

Inoue, F ^{[1
]}

Murakami, T ^{[1
]}

Ohnishi, K ^{[1
]}

机构：

[1] Keio Univ, Dept Syst Design Engn, Kouhoku Ku, Yokohama, Kanagawa 223, Japan

来源：

6TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS | 2000年

关键词：

D O I：

10.1109/AMC.2000.862836

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 against the external force. As well known the mobile manipulator has infinite motion area, which brings a sophisticated advantage to the manipulator control. However the unexpected external force to the mobile manipulator makes its motion unstable because there is no fixed points in the stationary coordinate. To obtain the stable motion independently! of the external force, a cooperative control of manipulator and vehicles is needed. This paper presents a stable control strategy of mobile manipulator with considering the eternal force. The validity of the proposed method is confirmed by several numerical and experimental results.

引用

页码：98 / 103

页数：6

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