DocumentCode
3233235
Title
Large motion control of mobile manipulators including vehicle suspension characteristics
Author
Hootsmans, Norbert A M ; Dubowsky, Steven
Author_Institution
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2336
Abstract
Conventional fixed-base controllers are shown not to perform well on mobile manipulators due to the dynamic interactions between a manipulator and its vehicle. An extended Jacobian transpose control algorithm is developed to improve the performance of such manipulator systems. It is shown to perform well in the presence of modeling errors and the practical limitations imposed by the sensory information available for control in highly unstructured field environments
Keywords
control system analysis; mobile robots; position control; Jacobian transpose control; large motion control; manipulators; mobile robots; modeling errors; unstructured field environments; vehicle suspension characteristics; Control systems; Jacobian matrices; Kinematics; Manipulator dynamics; Mobile robots; Motion control; Prototypes; Robot sensing systems; Tires; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131751
Filename
131751
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