A motion control of mobile manipulator with external force

Fumiaki Inoue, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

49 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)137-142
Number of pages6
JournalIEEE/ASME Transactions on Mechatronics
Issue number2
Publication statusPublished - 2001 Jun


  • Acceleration limit
  • Disturbance observer
  • External force
  • Mobile manipulator
  • Smooth and stable motion

ASJC Scopus subject areas

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


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