TY - GEN
T1 - Environmental interaction of two wheeled mobile manipulator by using reaction torque observer
AU - Abeygunawardhana, P. K.W.
AU - Toshiyuki, Murakami
PY - 2008
Y1 - 2008
N2 - There are so many industrial manipulators which involve in lot of task in the industry. Developing the mobile manipulator will expand the operational region of the manipulator. Moreover, two wheeled mobile manipulator will further expand the task of the mobile manipulator by being able to work in limited space and so on. However good mobile manipulator should be robust against environmental disturbance. Therefore, environmental recognition of two wheeled mobile manipulator is proposed in this paper. Reaction torque observer is implemented to recognize the environmental disturbance. Compliance control is used to compensate the environmental feedback. Experiment was carried out to show the effectiveness of the proposed method.
AB - There are so many industrial manipulators which involve in lot of task in the industry. Developing the mobile manipulator will expand the operational region of the manipulator. Moreover, two wheeled mobile manipulator will further expand the task of the mobile manipulator by being able to work in limited space and so on. However good mobile manipulator should be robust against environmental disturbance. Therefore, environmental recognition of two wheeled mobile manipulator is proposed in this paper. Reaction torque observer is implemented to recognize the environmental disturbance. Compliance control is used to compensate the environmental feedback. Experiment was carried out to show the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=67650339139&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2008.4516091
DO - 10.1109/AMC.2008.4516091
M3 - Conference contribution
AN - SCOPUS:67650339139
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 348
EP - 353
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -