DocumentCode
3175594
Title
The experimental performance of a mobile manipulator control algorithm
Author
Hootsmans, Norbert A M ; Dubowsky, Steven ; MO, Patrick Z.
Author_Institution
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
fYear
1992
fDate
12-14 May 1992
Firstpage
1948
Abstract
Results of an experimental study of a motion control algorithm for mobile manipulators are presented. The dynamic interactions between a mobile manipulator and its vehicle are shown to lead to poor performance when a conventional fixed-base controller, which neglects these interactions, is used. The mobile manipulator control algorithm, which accounts for dynamic vehicle motions caused by manipulator motions, is shown to be stable and to perform well, while using only limited sensory data, such as would be practically available in highly unstructured field environments
Keywords
dynamics; manipulators; position control; dynamic interactions; dynamic vehicle motions; mobile manipulator; motion control; robotics; Control systems; Degradation; Feedback; Manipulator dynamics; Motion control; Payloads; Production facilities; Robot sensing systems; Stability; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.219944
Filename
219944
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