A mobile manipulator in this study consists of two subsystems, which are a wheeled mobile robot and a manipulator arm. These systems have different dynamic characteristics. Moreover, a wheeled mobile robot is subject to nonholonomic constraints. In general, these issues are taken into consideration in developing a planning and control algorithm. This paper describes a unified approach to control a mobile manipulator which can be regarded as a redundant manipulator. In the proposed approach, realizing an optimal configuration control according to the desired task, the redundancy of the proposed system is utilized under consideration of the dynamical behavior of the mobile manipulator. The task is `pushing operation' to accomplish the movement of an object from one place to the desired arrangement. Several experimental results show the effectiveness of the proposed method.
|Published - 1998 12月 1
|Proceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC - Coimbra, Portugal
継続期間: 1998 6月 29 → 1998 7月 1
|Proceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC
|98/6/29 → 98/7/1
ASJC Scopus subject areas
- コンピュータ サイエンスの応用