Motion control of mobile manipulator with external force

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.