Title :
Safety assurance and performance of an unmanned mobile manipulator
Author :
Yang, Pao-Hwa ; Wang, Shiu-Ping ; Hung, Chun-Wei
Author_Institution :
Dept. of Mech. Eng., Hsiuping Inst. of Technol., Dali, Taiwan
Abstract :
In this paper, a discussion of the control of unmanned mobile manipulator in the occurrence of the contact force is presented. We focus on two kinds of contact: one is prohibited and another is planned. By employing a path design, the safety assurance and performance of an unmanned mobile manipulator can be achieved.
Keywords :
manipulators; mechanical contact; mobile robots; path planning; remotely operated vehicles; safety; contact force; path design; safety assurance; unmanned mobile manipulator; Force; Manipulator dynamics; Mobile communication; Mobile robots; Safety; contact force; mobile manipulator; path design;
Conference_Titel :
Control Conference (ASCC), 2011 8th Asian
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-61284-487-9
Electronic_ISBN :
978-89-956056-4-6
