Control of mobile manipulators following a moving surface

Author

Yamamoto, Yoshio ; Yun, Xiaoping

Author_Institution

Pennsylvania Univ., Philadelphia, PA, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

1

Abstract

A control algorithm for mobile manipulators is presented. The task for the mobile manipulator is to follow a moving surface. The control algorithm is developed based on the concept of a preferred operating region. The nonholonomically constrained mobile platform is controlled to bring the end point of the manipulator into the preferred operating region. The manipulator is force-controlled to keep in contact with the moving surface. The control algorithm is tested on an experimental mobile manipulator built from a TRC LABMATE mobile platform and a PUMA 250 robot manipulator. Experimental results are presented to demonstrate the efficacy of the control algorithm

Keywords

force control; manipulators; mobile robots; position control; PUMA 250 robot manipulator; TRC LABMATE mobile platform; mobile manipulators; moving surface; nonholonomically constrained mobile platform; preferred operating region; Force control; Laboratories; Manipulator dynamics; Mobile robots; Navigation; Position control; Robot kinematics; Robot sensing systems; Testing; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291930

Filename

291930